86
Total objective tests
19
Objectives passed
0
Objectives failed
67
Objectives skipped
20.6s
Avg test time
100%
Objective pass rate
▾
(no parent)2 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 21.7s | 12 errors · 314 warnings · 1570 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/2026-10-09-20-43-24-602040-bd0461d42483-7715 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.75sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 4.75sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.75sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.98sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 5.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 5.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.06sINFOstate_estimatorReceived a set_pose request (stamp: 1791578611448660963, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 5.07sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.08sINFOros2_control_node-13process started with pid [7880] ×2 + 5.08sINFOmove_group-25process started with pid [7936] ×2 + 5.08sINFOparameter_manager_node-26process started with pid [7937] ×2 + 5.08sINFOwaypoint_manager_node-27process started with pid [7938] ×2 + 5.08sINFOmove_joint_resampler_node-28process started with pid [7939] ×2 + 5.08sINFOmove_end_effector_resampler_node-29process started with pid [7940] ×2 + 5.08sINFOobjective_server_node_main-30process started with pid [7944] ×2 + 5.08sINFOcomponent_container_mt-31process started with pid [7945] ×2 + 5.08sINFOcomponent_container_mt-32process started with pid [7947] ×2 + 5.08sINFOexecute_objective_bridge-33process started with pid [7950] ×2 + 5.08sINFOui_teleop_bridge-34process started with pid [7953] ×2 + 5.08sINFOweb_bridge-35process started with pid [7954] ×2 + 5.08sINFOtf_visualization_relay-36process started with pid [7955] ×2 + 5.08sINFOjoint_state_visualization_relay-37process started with pid [7956] ×2 + 5.08sINFOtf2_web_republisher_node-38process started with pid [7957] ×2 + 5.08sINFOvideo_server-39process started with pid [7959] ×2 + 5.09sINFOweb_bridge_auth_proxy-40process started with pid [7968] ×2 + 5.09sINFOweb_video_auth_proxy-41process started with pid [7969] ×2 + 5.09sINFOcomponent_container_isolated-1process started with pid [7765] ×2 + 5.09sINFOcomponent_container_isolated-2process started with pid [7766] ×2 + 5.09sINFOstatic_transform_publisher-3process started with pid [7767] ×2 + 5.09sINFOodom_world_drift-4process started with pid [7768] ×2 + 5.09sINFOlidar_flattener.py-5process started with pid [7769] ×2 + 5.09sINFOstatic_transform_publisher-6process started with pid [7770] ×2 + 5.09sINFOstatic_transform_publisher-7process started with pid [7771] ×2 + 5.09sINFOscan_to_scan_filter_chain-8process started with pid [7772] ×2 + 5.09sINFOscan_to_scan_filter_chain-9process started with pid [7773] ×2 + 5.09sINFOrelay-10process started with pid [7877] ×2 + 5.09sINFOrelay-11process started with pid [7878] ×2 + 5.09sINFOfixed_lag_smoother_node-12process started with pid [7879] ×2 + 5.09sINFOros2-14process started with pid [7881] ×2 + 5.09sINFOros2-15process started with pid [7882] ×2 + 5.09sINFOros2-16process started with pid [7883] ×2 + 5.09sINFOros2-17process started with pid [7884] ×2 + 5.11sINFOros2-18process started with pid [7885] ×2 + 5.11sINFOros2-19process started with pid [7886] ×2 + 5.11sINFOros2-20process started with pid [7887] ×2 + 5.11sINFOros2-21process started with pid [7888] ×2 + 5.11sINFOros2-22process started with pid [7889] ×2 + 5.11sINFOros2-23process started with pid [7890] ×2 + 5.11sINFOros2-24process started with pid [7891] ×2 + 5.13sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.13sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.13sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.13sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.13sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 5.16sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.16sINFOmap_serverCreating + 5.16sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.16sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.16sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.16sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.16sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.16sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.16sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.16sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.16sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.16sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.16sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.17sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.17sINFOcontroller_serverCreating controller server + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.18sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.18sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.19sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.19sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.20sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.21sINFOcontroller_managerupdate rate is 600 Hz + 5.21sINFOcontroller_managerOverruns handling is : enabled + 5.21sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.21sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 5.21sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.21sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.21sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.21sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.21sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 5.22sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.23sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.23sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.23sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.24sINFOlocal_costmap.local_costmapCreating Costmap + 5.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.27sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.30sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.31sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.34sINFOsmoother_serverCreating smoother server + 5.34sINFOrobot_state_publisherRobot initialized + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.35sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.35sINFOcontroller_managerReceived robot description from topic. + 5.35sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.35sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.35sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.37sINFOlifecycle_manager_localizationCreating + 5.38sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.39sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.39sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.39sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.40sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.41sINFOplanner_serverCreating + 5.41sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.41sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.41sINFOmap_serverConfiguring + 5.43sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.44sINFOglobal_costmap.global_costmapCreating Costmap + 5.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.49sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.50sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.51sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.51sINFOamclConfiguring + 5.52sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.52sINFOmap_serverActivating + 5.52sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.58sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.58sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.60sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.61sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.61sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.62sINFObt_navigatorCreating + 5.62sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.63sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.63sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.63sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.64sINFOamclActivating + 5.64sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.64sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.64sINFOamclSubscribed to map_topic: /map + 5.64sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.65sINFOamclCreated reinitialize_global_localization service + 5.65sINFOamclCreated request_nomotion_update service + 5.65sINFOamclA new map was received + 5.65sINFOamclInitializing particle filter instance + 5.67sINFOwaypoint_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. + 5.68sINFOwaypoint_followerCreating + 5.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.72sINFOvideo_server2026/10/09 20:43:32 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.72sINFOvideo_server2026/10/09 20:43:32 INF configuration loaded from /tmp/moveit-webrtc-grsg1_td/mediamtx.yml ×2 + 5.72sINFOvideo_server2026/10/09 20:43:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.72sINFOvideo_server2026/10/09 20:43:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.73sINFOvelocity_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. + 5.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.77sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.78sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.78sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.79sINFOlifecycle_manager_navigationCreating + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589604 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589604 ms (missed cycles : 2).[0m ×2 + 5.83sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.85sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.85sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.85sINFOcontroller_serverConfiguring controller interface + 5.85sINFOcontroller_servergetting progress checker plugins.. + 5.85sINFOcontroller_servergetting goal checker plugins.. + 5.86sINFOcontroller_serverController frequency set to 20.0000Hz + 5.86sINFOlocal_costmap.local_costmapConfiguring + 5.86sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.88sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.90sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.95sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.95sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.96sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 6.03sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 6.03sINFOcontroller_serverController Server has progress_checker progress checkers available. + 6.04sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 6.05sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 6.07sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.14sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.16sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.16sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.17sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.17sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.18sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.19sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.19sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.21sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.23sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.25sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.25sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.25sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.25sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.26sINFOcontroller_serverOptimizer reset ×2 + 6.28sINFOcontroller_serverController Server has FollowPath controllers available. + 6.31sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.480026 seconds + 6.31sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.31sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.31sINFOmove_groupLoaded robot model in 0.480026 seconds[0m ×2 + 6.31sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.31sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.36sINFOamclParticle filter initialization completed + 6.36sINFOamclInitializing particles from estimated pose and covariance + 6.37sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.37sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.37sINFOsmoother_serverConfiguring smoother server + 6.41sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.42sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.44sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.44sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.44sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.45sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.45sINFOplanner_serverConfiguring + 6.45sINFOglobal_costmap.global_costmapConfiguring + 6.47sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.48sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.48sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.49sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.50sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.50sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.52sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.55sINFOweb_bridge_auth_proxy2026-10-09 20:43:32,933 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.55sINFOweb_bridge_auth_proxy2026-10-09 20:43:32,935 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.55sINFOweb_video_auth_proxy2026-10-09 20:43:32,942 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.57sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.57sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.58sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.63sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.63sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.63sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.64sINFOplanner_serverPlanner Server has GridBased planners available. + 6.66sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.66sINFObehavior_serverConfiguring + 6.67sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.68sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.69sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.69sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.70sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.71sINFObehavior_serverConfiguring spin + 6.72sINFObehavior_serverConfiguring backup + 6.73sINFObehavior_serverConfiguring drive_on_heading + 6.75sINFObehavior_serverConfiguring assisted_teleop + 6.79sINFObehavior_serverConfiguring wait + 6.80sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.80sINFObt_navigatorConfiguring + 6.80sINFOwaypoint_manager_nodeLoaded robot model in 0.454717 seconds[0m ×2 + 6.80sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.80sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.81sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.82sWARNbt_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 + 6.96sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNmove_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 + 7.01sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 7.01sINFOwaypoint_followerConfiguring + 7.04sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 7.04sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 7.04sINFOvelocity_smootherConfiguring velocity smoother + 7.06sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 7.06sINFOcontroller_serverActivating + 7.06sINFOlocal_costmap.local_costmapActivating + 7.06sINFOlocal_costmap.local_costmapChecking transform + 7.06sINFOlocal_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 ×3 + 7.24sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 7.24sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 7.24sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 7.24sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 7.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.27sWARNwaypoint_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 + 7.28sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 7.28sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 7.30sINFOmove_group[2026-10-09 20:43:33.689] [moveit_pro_license] [info] ×2 + 7.30sINFOmove_group************************************************* ×4 + 7.30sINFOmove_group* MoveIt Pro License ×2 + 7.30sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.48sINFOwaypoint_manager_node[2026-10-09 20:43:33.867] [moveit_pro_license] [info] ×2 + 7.48sINFOwaypoint_manager_node************************************************* ×4 + 7.48sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.48sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732275 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732275 ms (missed cycles : 2).[0m ×2 + 7.70sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.70sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.70sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.70sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.70sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.70sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.70sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.70sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.70sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.70sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.71sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.71sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.71sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.71sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.71sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.71sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.71sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.71sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.71sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.90sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.90sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.91sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.05sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 8.05sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 8.05sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter. Its parent TF edge is published by robot_state_publisher or another node, not this interface.[0m ×2 + 8.05sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 8.05sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 8.05sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 8.05sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 8.05sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 8.05sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 8.05sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 8.05sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 8.05sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 8.05sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 8.05sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 8.05sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 8.05sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 8.05sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 8.05sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 8.05sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 8.05sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 8.05sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 8.05sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.05sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.05sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 8.05sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 8.05sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 8.05sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.05sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.05sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 8.05sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 8.05sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 8.06sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 8.06sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 8.06sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 8.06sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 8.06sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 8.06sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 8.12sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 8.12sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.24sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 8.24sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 8.24sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 8.24sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 8.24sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 8.24sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 8.30sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.30sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.32sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 8.32sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 8.32sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 8.32sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 8.32sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 8.32sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 8.33sINFOcontroller_managerSuccessfully switched controllers! ×21 + 8.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 8.33sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 8.33sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.35sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 8.35sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.35sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 8.35sINFOobjective_server_node[2026-10-09 20:43:34.734] [moveit_pro_license] [info] ×2 + 8.35sINFOobjective_server_node************************************************* ×4 + 8.35sINFOobjective_server_node* MoveIt Pro License ×2 + 8.35sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.43sINFOobjective_server_nodeLoaded robot model in 0.0311927 seconds[0m ×2 + 8.43sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.43sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899414 ms (missed cycles : 3). + 8.57sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×4 + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899414 ms (missed cycles : 3).[0m ×2 + 8.71sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.71sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.71sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.74sINFOros2-15process has finished cleanly [pid 7882] ×2 + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.75sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.77sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.79sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.79sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.79sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.80sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.80sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.80sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.80sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.80sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.80sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.80sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.80sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.80sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.80sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.81sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.81sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.81sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.81sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.81sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.81sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.81sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.81sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.81sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.81sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.81sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.85sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 8.85sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 8.91sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.91sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.92sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.92sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.93sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.93sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.94sWARNobjective_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. + 8.94sWARNobjective_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 + 8.94sWARNobjective_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. + 8.94sWARNobjective_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 + 8.94sWARNobjective_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. + 8.94sWARNobjective_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. + 8.94sWARNobjective_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. + 8.94sWARNobjective_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 + 8.94sWARNobjective_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. + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.94sWARNobjective_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. + 8.94sWARNobjective_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. + 8.94sWARNobjective_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. + 8.94sWARNobjective_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. + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.00sWARNcomponent_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 + 9.03sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.03sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.03sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.04sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 9.04sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.06sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 9.06sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 9.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 9.06sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 9.06sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 9.07sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.25sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.32sINFOcomponent_container_mtLoaded robot model in 0.322283 seconds[0m ×2 + 9.32sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.32sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.41sINFOros2_control_node[2026-10-09 20:43:35.802] [info] Controller state will be published at 20 Hz. ×2 + 9.41sINFOros2_control_node[2026-10-09 20:43:35.803] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.54sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.54sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.54sINFOmove_groupMoveGroup debug mode is ON + 9.54sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.55sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.60sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844714 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844714 ms (missed cycles : 2).[0m ×2 + 9.71sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 9.71sINFOmove_group ×8 + 9.72sINFOmove_group******************************************************** ×4 + 9.72sINFOmove_group* MoveGroup using: ×2 + 9.72sINFOmove_group* - apply_planning_scene_service ×2 + 9.72sINFOmove_group* - clear_octomap_service ×2 + 9.72sINFOmove_group* - get_group_urdf ×2 + 9.72sINFOmove_group* - load_geometry_from_file ×2 + 9.72sINFOmove_group* - get_planning_scene_service ×2 + 9.72sINFOmove_group* - kinematics_service ×2 + 9.72sINFOmove_group* - save_geometry_to_file ×2 + 9.72sINFOmove_group* - GetPlanningGroups ×2 + 9.72sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.72sINFOmove_group[0m ×2 + 9.72sINFOmove_group[92mYou can start planning now![0m ×2 + 9.74sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.74sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.75sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 9.75sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 9.79sINFOros2-23process has finished cleanly [pid 7890] ×2 + 9.80sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.80sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.81sINFOplatform_velocity_controllerconfigure successful + 9.81sINFOros2_control_nodeconfigure successful[0m ×6 + 9.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.82sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.82sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.89sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.90sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.90sWARNcomponent_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 + 10.14sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.14sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.14sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.14sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.14sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 10.14sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 10.19sINFOros2-17process has finished cleanly [pid 7884] ×2 + 10.19sINFOcomponent_container_mt[2026-10-09 20:43:36.577] [moveit_pro_license] [info] ×2 + 10.19sINFOcomponent_container_mt************************************************* ×4 + 10.19sINFOcomponent_container_mt* MoveIt Pro License ×2 + 10.19sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.20sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.20sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.20sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.20sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.20sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.20sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.21sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.21sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.22sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.22sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.27sWARNros2_control_nodeCamera render tick took 0.89 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.31sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.31sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.31sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.31sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.52sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.52sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 10.52sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.52sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.56sINFOlocal_costmap.local_costmapstart + 10.57sINFOros2-16process has finished cleanly [pid 7883] ×2 + 10.59sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.59sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.60sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 10.61sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937046 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937046 ms (missed cycles : 3).[0m ×2 + 10.67sWARNcontroller_serverParameter controller_server.verbose not found + 10.67sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.68sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 10.68sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 10.69sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 10.69sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 10.78sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 10.78sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 10.78sINFOsmoother_serverActivating + 10.78sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 10.87sINFOamclParticle filter update iteration stats: 1735 particles 811 points - 26.476ms + 10.89sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.89sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.89sINFOplanner_serverActivating + 10.89sINFOglobal_costmap.global_costmapActivating + 10.89sINFOglobal_costmap.global_costmapChecking transform + 10.89sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1791578617.265919, but only time 1791578617.714113 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.14sINFOros2_control_node[2026-10-09 20:43:37.526] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.14sINFOros2_control_node[2026-10-09 20:43:37.529] [info] Controller state will be published at 10 Hz. ×2 + 11.14sINFOros2_control_node[2026-10-09 20:43:37.530] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.31sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791578615.776 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.39sINFOglobal_costmap.global_costmapstart + 11.49sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 11.49sINFOcontroller_managerLoading controller 'vacuum_gripper' + 11.49sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 11.49sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 11.49sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 11.50sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 11.51sINFOros2-22process has finished cleanly [pid 7889] ×2 + 11.52sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 11.53sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 11.55sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 11.55sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 11.55sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 11.55sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 11.55sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 11.55sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 11.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 11.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 11.56sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 11.57sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149864 ms (missed cycles : 4). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149864 ms (missed cycles : 4).[0m ×2 + 11.88sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.88sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.88sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.88sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 11.88sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.88sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 11.91sINFOros2-18process has finished cleanly [pid 7885] ×2 + 11.96sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.96sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.96sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.96sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.97sINFOplatform_velocity_controller_nav2configure successful + 12.29sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.29sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.29sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.30sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 12.30sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 12.36sINFOros2-19process has finished cleanly [pid 7886] ×2 + 12.37sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.37sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.37sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.37sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.37sINFOforce_torque_sensor_broadcasterconfigure successful + 12.38sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.38sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.38sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 12.38sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.44sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 12.44sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 12.55sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 12.55sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 12.55sINFObehavior_serverActivating + 12.55sINFObehavior_serverActivating spin + 12.55sINFObehavior_serverActivating backup + 12.55sINFObehavior_serverActivating drive_on_heading + 12.55sINFObehavior_serverActivating assisted_teleop + 12.55sINFObehavior_serverActivating wait + 12.55sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 12.65sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 12.65sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 12.65sINFObt_navigatorActivating + 12.74sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.74sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.74sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.74sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.74sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 12.74sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 12.75sINFOros2-14process has finished cleanly [pid 7881] ×2 + 12.77sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 12.78sWARNobjective_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 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253834 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253834 ms (missed cycles : 2).[0m ×2 + 12.81sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.81sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.81sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.81sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.88sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 12.88sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 12.88sINFOwaypoint_followerActivating + 12.88sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 12.99sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 12.99sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 12.99sINFOvelocity_smootherActivating + 12.99sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 13.31sINFOros2_control_node[2026-10-09 20:43:39.701] [info] Controller state will be published at 20 Hz. ×2 + 13.31sINFOros2_control_node[2026-10-09 20:43:39.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.68sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.68sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.68sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.68sINFOros2-24process has finished cleanly [pid 7891] ×2 + 13.68sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 13.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 13.80sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.80sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137273 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137273 ms (missed cycles : 2).[0m ×2 + 13.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.81sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.81sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.82sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.82sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.82sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.82sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.83sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 14.18sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 14.18sINFOcontroller_managerLoading controller 'velocity_force_controller' + 14.18sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 14.18sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 14.19sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 + 14.19sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tq7dev9g --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_dkrhk009 --params-file /tmp/launch_params_oywduq81 [0m ×2 + 14.22sINFOros2-20process has finished cleanly [pid 7887] ×2 + 14.26sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 14.26sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 14.26sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 14.26sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 14.73sINFOros2_control_node[2026-10-09 20:43:41.116] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 14.73sINFOros2_control_node[2026-10-09 20:43:41.118] [info] Controller state will be published at 10 Hz. ×2 + 14.73sINFOros2_control_node[2026-10-09 20:43:41.120] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184008 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184008 ms (missed cycles : 2).[0m ×2 + 15.07sINFOros2-21process has finished cleanly [pid 7888] ×2 + 15.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 15.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 15.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 15.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 15.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 15.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 15.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 15.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508405 ms (missed cycles : 3). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508405 ms (missed cycles : 3).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937522 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937522 ms (missed cycles : 2).[0m ×2 + 18.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 21.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.02sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 21.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 21.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 21.02sINFOobjective_server_nodeparameter_overrides: [] ×10 + 21.02sINFOobjective_server_nodecaller: ×10 + 21.02sINFOobjective_server_nodetype: 0 ×10 + 21.02sINFOobjective_server_nodename: "" ×10 + 21.02sINFOobjective_server_nodeinstance_id: "" ×10 + 21.02sINFOobjective_server_node ×10 + 21.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 21.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 21.07sINFOmove_groupClearing octomap...[0m ×4 + 21.07sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 21.07sINFOmove_groupOctomap cleared.[0m ×4 + 21.07sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 21.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 21.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 21.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 22.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 22.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 22.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 22.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 23.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.04sINFOobjective_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 + 23.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 23.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 23.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 23.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 23.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 23.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 23.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×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 1.937522 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937522 ms (missed cycles : 2).[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 2.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.80sINFOobjective_server_nodecaller: ×10 + 3.80sINFOobjective_server_nodetype: 0 ×10 + 3.80sINFOobjective_server_nodename: "" ×10 + 3.80sINFOobjective_server_nodeinstance_id: "" ×10 + 3.80sINFOobjective_server_node ×10 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.85sINFOmove_groupClearing octomap...[0m ×4 + 3.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×4 + 3.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass28 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.3s | 3 errors · 270 warnings · 283 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.208ms + 0.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.184ms + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233774 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233774 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.052ms + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532477 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532477 ms (missed cycles : 2).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.470ms + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.460ms + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.336ms + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264566 ms (missed cycles : 4). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264566 ms (missed cycles : 4).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOjoint_trajectory_controllerGot request to cancel goal + 3.05sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.05sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791578838.50496387 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOstate_estimatorReceived a set_pose request (stamp: 1791578838522217365, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.44sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791578839.10440063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.85sINFOamclParticle filter update iteration stats: 4900 particles 811 points - 11.536ms + 3.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.85sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.85sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554172 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554172 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.306ms + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594668 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594668 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304433 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304433 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.39sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.40sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.40sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406171 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406171 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634612 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634612 ms (missed cycles : 2).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.158ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693972 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693972 ms (missed cycles : 2).[0m ×2 + 9.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.590ms + 10.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.605ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860200 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860200 ms (missed cycles : 3).[0m ×2 + 11.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262824 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262824 ms (missed cycles : 2).[0m ×2 + 11.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.146ms + 12.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.595ms + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925681 ms (missed cycles : 3). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925681 ms (missed cycles : 3).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.476ms + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006960 ms (missed cycles : 3). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006960 ms (missed cycles : 3).[0m ×2 + 13.68sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.526ms + 13.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 14.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.265ms + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878012 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878012 ms (missed cycles : 2).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.260ms + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.812ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578141 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578141 ms (missed cycles : 3).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.283ms + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.563ms + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581432 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581432 ms (missed cycles : 3).[0m ×2 + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.198ms + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.532ms + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060417 ms (missed cycles : 5). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060417 ms (missed cycles : 5).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.201ms + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.216ms + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238755 ms (missed cycles : 2). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238755 ms (missed cycles : 2).[0m ×2 + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.667ms + 18.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.573ms + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.891ms + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209714 ms (missed cycles : 2). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209714 ms (missed cycles : 2).[0m ×2 + 20.24sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.561ms + 20.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.111ms + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086131 ms (missed cycles : 2). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086131 ms (missed cycles : 2).[0m ×2 + 21.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.512ms + 21.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220825 ms (missed cycles : 3). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220825 ms (missed cycles : 3).[0m ×2 + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.067ms + 22.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.805ms + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344043 ms (missed cycles : 2). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344043 ms (missed cycles : 2).[0m ×2 + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.908ms + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.918ms + 24.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541801 ms (missed cycles : 3). + 24.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541801 ms (missed cycles : 3).[0m ×2 + 24.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.251ms + 24.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.106ms + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993165 ms (missed cycles : 2). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993165 ms (missed cycles : 2).[0m ×2 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.153ms + 25.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.403ms + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.752ms + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118453 ms (missed cycles : 3). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118453 ms (missed cycles : 3).[0m ×2 + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.581ms + 27.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.161ms + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031034 ms (missed cycles : 2). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031034 ms (missed cycles : 2).[0m ×2 + 27.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.738ms + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.867ms + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118469 ms (missed cycles : 2). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118469 ms (missed cycles : 2).[0m ×2 + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.848ms + 29.09sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.807ms + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201711 ms (missed cycles : 2). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201711 ms (missed cycles : 2).[0m ×2 + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.348ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.306ms + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978549 ms (missed cycles : 3). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978549 ms (missed cycles : 3).[0m ×2 + 30.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.191ms + 31.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.037ms + 31.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.705ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355805 ms (missed cycles : 3). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355805 ms (missed cycles : 3).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.325ms + 32.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.174ms + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456377 ms (missed cycles : 3). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456377 ms (missed cycles : 3).[0m ×2 + 33.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.175ms + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176285 ms (missed cycles : 2). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176285 ms (missed cycles : 2).[0m ×2 + 34.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.143ms + 34.77sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.77sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141362 ms (missed cycles : 2). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141362 ms (missed cycles : 2).[0m ×2 + 35.46sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160842 ms (missed cycles : 2). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160842 ms (missed cycles : 2).[0m ×2 + 36.45sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011595 ms (missed cycles : 3). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011595 ms (missed cycles : 3).[0m ×2 + 37.37sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860047 ms (missed cycles : 3). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860047 ms (missed cycles : 3).[0m ×2 + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579325 ms (missed cycles : 3). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579325 ms (missed cycles : 3).[0m ×2 + 39.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.879ms + 39.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.862ms + 40.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410832 ms (missed cycles : 3). + 40.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410832 ms (missed cycles : 3).[0m ×2 + 40.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.646ms + 40.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.864ms + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189742 ms (missed cycles : 2). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189742 ms (missed cycles : 2).[0m ×2 + 41.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.070ms + 42.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875721 ms (missed cycles : 2). + 42.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875721 ms (missed cycles : 2).[0m ×2 + 42.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.284ms + 42.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×8 + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092248 ms (missed cycles : 2). + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092248 ms (missed cycles : 2).[0m ×2 + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524876 ms (missed cycles : 3). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524876 ms (missed cycles : 3).[0m ×2 + 44.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.307ms + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027811 ms (missed cycles : 2). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027811 ms (missed cycles : 2).[0m ×2 + 45.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.179ms + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849214 ms (missed cycles : 2). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849214 ms (missed cycles : 2).[0m ×2 + 46.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.879ms + 47.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.617ms + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113466 ms (missed cycles : 2). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113466 ms (missed cycles : 2).[0m ×2 + 47.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.184ms + 48.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.087ms + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835076 ms (missed cycles : 3). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835076 ms (missed cycles : 3).[0m ×2 + 48.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.196ms + 49.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198069 ms (missed cycles : 2). + 49.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198069 ms (missed cycles : 2).[0m ×2 + 49.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.917ms + 50.06sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 50.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184512 ms (missed cycles : 4). + 50.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184512 ms (missed cycles : 4).[0m ×2 + 51.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374802 ms (missed cycles : 3). + 51.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374802 ms (missed cycles : 3).[0m ×2 + 52.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350158 ms (missed cycles : 4). + 52.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350158 ms (missed cycles : 4).[0m ×2 + 53.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.776ms + 54.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306080 ms (missed cycles : 4). + 54.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306080 ms (missed cycles : 4).[0m ×2 + 54.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.594ms + 54.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.404ms + 55.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221368 ms (missed cycles : 2). + 55.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221368 ms (missed cycles : 2).[0m ×2 + 55.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.284ms + 55.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.764ms + 56.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198625 ms (missed cycles : 3). + 56.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198625 ms (missed cycles : 3).[0m ×2 + 56.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.639ms + 57.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582629 ms (missed cycles : 3). + 57.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582629 ms (missed cycles : 3).[0m ×2 + 58.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901983 ms (missed cycles : 3). + 58.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901983 ms (missed cycles : 3).[0m ×2 + 58.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.707ms + 59.07sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 59.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432652 ms (missed cycles : 3). + 59.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432652 ms (missed cycles : 3).[0m ×2 + 60.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762657 ms (missed cycles : 2). + 60.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762657 ms (missed cycles : 2).[0m ×2 + 61.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507293 ms (missed cycles : 4). + 61.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507293 ms (missed cycles : 4).[0m ×2 + 61.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.836ms + 62.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.493490 ms (missed cycles : 7). + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.493490 ms (missed cycles : 7).[0m ×2 + 63.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.946ms + 63.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686341 ms (missed cycles : 5). + 63.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686341 ms (missed cycles : 5).[0m ×2 + 64.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154825 ms (missed cycles : 2). + 64.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154825 ms (missed cycles : 2).[0m ×2 + 65.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.282ms + 65.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417676 ms (missed cycles : 3). + 65.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417676 ms (missed cycles : 3).[0m ×2 + 65.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.779ms + 66.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.320ms + 66.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.687ms + 66.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089893 ms (missed cycles : 3). + 66.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089893 ms (missed cycles : 3).[0m ×2 + 67.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.914ms + 67.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.881ms + 67.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465634 ms (missed cycles : 3). + 67.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465634 ms (missed cycles : 3).[0m ×2 + 68.44sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791578903.85459399 seconds ×3 + 68.48sINFOstate_estimatorReceived a set_pose request (stamp: 1791578903872301967, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 68.54sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.50) is out of map bounds (-3.30, 0.75) to (1.68, 5.73). The costmap cannot raytrace for it. + 68.54sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.33) is out of map bounds (-3.30, 0.75) to (1.68, 5.73). The costmap cannot raytrace for it. + 68.64sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.50) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.64sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.84sWARNlocal_costmap.local_costmapSensor origin at (-2.68, 13.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.84sWARNlocal_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. ×5 + 68.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506195 ms (missed cycles : 3). + 68.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506195 ms (missed cycles : 3).[0m ×2 + 68.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.98sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791578904.44435668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.27sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.468ms + 69.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 69.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 69.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870328 ms (missed cycles : 3). + 69.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870328 ms (missed cycles : 3).[0m ×2 + 71.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553766 ms (missed cycles : 2). + 71.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553766 ms (missed cycles : 2).[0m ×2 + 72.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4). + 72.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 221 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.82sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306233 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306233 ms (missed cycles : 3).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737830 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737830 ms (missed cycles : 3).[0m ×2 + 8.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.366ms + 9.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.625ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002519 ms (missed cycles : 4). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002519 ms (missed cycles : 4).[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.387ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052483 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052483 ms (missed cycles : 2).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.919ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491439 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491439 ms (missed cycles : 4).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.595ms + 11.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×8 + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.480ms + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.308ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339096 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339096 ms (missed cycles : 4).[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.531ms + 13.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.371ms + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711179 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711179 ms (missed cycles : 3).[0m ×2 + 14.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.937ms + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.663ms + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523232 ms (missed cycles : 3). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523232 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.034ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.707ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146862 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146862 ms (missed cycles : 2).[0m ×2 + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.569ms + 16.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.123ms + 17.04sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811264 ms (missed cycles : 3). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811264 ms (missed cycles : 3).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.408ms + 17.18sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.938ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.574765 ms (missed cycles : 6). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.574765 ms (missed cycles : 6).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.010ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.376ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.057ms + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500121 ms (missed cycles : 3). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500121 ms (missed cycles : 3).[0m ×2 + 19.70sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.987ms + 20.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.346ms + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709344 ms (missed cycles : 2). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709344 ms (missed cycles : 2).[0m ×2 + 20.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.044ms + 21.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.160ms + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077506 ms (missed cycles : 2). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077506 ms (missed cycles : 2).[0m ×2 + 21.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.389ms + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.353ms + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845820 ms (missed cycles : 3). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845820 ms (missed cycles : 3).[0m ×2 + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.489ms + 23.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.834ms + 23.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314761 ms (missed cycles : 2). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314761 ms (missed cycles : 2).[0m ×2 + 23.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.962ms + 24.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.368ms + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945261 ms (missed cycles : 2). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945261 ms (missed cycles : 2).[0m ×2 + 24.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.075ms + 25.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.058ms + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.560318 ms (missed cycles : 5). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.560318 ms (missed cycles : 5).[0m ×2 + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.254ms + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.239ms + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083079 ms (missed cycles : 2). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083079 ms (missed cycles : 2).[0m ×2 + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.610ms + 27.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.090ms + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694159 ms (missed cycles : 5). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694159 ms (missed cycles : 5).[0m ×2 + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.315ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.561ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.935ms + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351100 ms (missed cycles : 4). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351100 ms (missed cycles : 4).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.960ms + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.163ms + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047742 ms (missed cycles : 5). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047742 ms (missed cycles : 5).[0m ×2 + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.036ms + 30.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.969ms + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014309 ms (missed cycles : 4). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014309 ms (missed cycles : 4).[0m ×2 + 31.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.878ms + 31.68sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.001ms + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461117 ms (missed cycles : 3). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461117 ms (missed cycles : 3).[0m ×2 + 32.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.120ms + 32.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.975ms + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832198 ms (missed cycles : 3). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832198 ms (missed cycles : 3).[0m ×2 + 33.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.282ms + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833533 ms (missed cycles : 2). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833533 ms (missed cycles : 2).[0m ×2 + 34.63sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078446 ms (missed cycles : 3). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078446 ms (missed cycles : 3).[0m ×2 + 36.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.706330 ms (missed cycles : 6). + 36.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.706330 ms (missed cycles : 6).[0m ×2 + 36.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.312ms + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955498 ms (missed cycles : 3). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955498 ms (missed cycles : 3).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211048 ms (missed cycles : 2). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211048 ms (missed cycles : 2).[0m ×2 + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112090 ms (missed cycles : 5). + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112090 ms (missed cycles : 5).[0m ×2 + 39.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.193ms + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012552 ms (missed cycles : 3). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012552 ms (missed cycles : 3).[0m ×2 + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947286 ms (missed cycles : 5). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947286 ms (missed cycles : 5).[0m ×2 + 41.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.995ms + 42.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.086ms + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440337 ms (missed cycles : 3). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440337 ms (missed cycles : 3).[0m ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687274 ms (missed cycles : 3). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687274 ms (missed cycles : 3).[0m ×2 + 44.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.581ms + 44.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290425 ms (missed cycles : 3). + 44.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290425 ms (missed cycles : 3).[0m ×2 + 45.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.675ms + 45.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121458 ms (missed cycles : 2). + 45.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121458 ms (missed cycles : 2).[0m ×2 + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109972 ms (missed cycles : 4). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109972 ms (missed cycles : 4).[0m ×2 + 47.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414870 ms (missed cycles : 3). + 47.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414870 ms (missed cycles : 3).[0m ×2 + 47.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.704ms + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556414 ms (missed cycles : 3). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556414 ms (missed cycles : 3).[0m ×2 + 48.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.836ms + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627755 ms (missed cycles : 2). + 49.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627755 ms (missed cycles : 2).[0m ×2 + 51.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865159 ms (missed cycles : 3). + 51.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865159 ms (missed cycles : 3).[0m ×2 + 51.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.282ms + 52.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762451 ms (missed cycles : 2). + 52.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762451 ms (missed cycles : 2).[0m ×2 + 52.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.132ms + 53.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502256 ms (missed cycles : 3). + 53.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502256 ms (missed cycles : 3).[0m ×2 + 54.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060455 ms (missed cycles : 2). + 54.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060455 ms (missed cycles : 2).[0m ×2 + 55.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.304043 ms (missed cycles : 5). + 55.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.304043 ms (missed cycles : 5).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.207ms + 56.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649268 ms (missed cycles : 4). + 56.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649268 ms (missed cycles : 4).[0m ×2 + 57.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505510 ms (missed cycles : 2). + 57.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505510 ms (missed cycles : 2).[0m ×2 + 58.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400057 ms (missed cycles : 3). + 58.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400057 ms (missed cycles : 3).[0m ×2 + 59.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630003 ms (missed cycles : 3). + 59.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630003 ms (missed cycles : 3).[0m ×2 + 59.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.987ms + 60.22sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791578967.69222188 seconds ×3 + 60.25sINFOstate_estimatorReceived a set_pose request (stamp: 1791578967712302957, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.28sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.25) is out of map bounds (-3.15, -0.25) to (1.83, 4.73). The costmap cannot raytrace for it. + 60.28sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.27) is out of map bounds (-3.15, -0.25) to (1.83, 4.73). The costmap cannot raytrace for it. + 60.38sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 60.38sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 60.48sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.48sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627127 ms (missed cycles : 3). + 60.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627127 ms (missed cycles : 3).[0m ×2 + 60.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.77sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.737ms + 60.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791578968.29711843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.24sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 61.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295631 ms (missed cycles : 2). + 61.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295631 ms (missed cycles : 2).[0m ×2 + 61.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.31sWARNglobal_costmap.global_costmapSensor origin at (4.87, -2.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 62.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 62.48sINFOamclInitializing particles from estimated pose and covariance + 62.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 62.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0547155, y=-0.0165351, yaw=-0.0170361 + 62.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.385ms + 62.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847075 ms (missed cycles : 4). + 62.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847075 ms (missed cycles : 4).[0m ×2 + 63.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.406676 ms (missed cycles : 6). + 63.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.406676 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 209 warnings · 233 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.651ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.591ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.907ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559569 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559569 ms (missed cycles : 3).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.999ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.829ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.051ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338499 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338499 ms (missed cycles : 2).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.636ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.94sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791578679.28195405 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOstate_estimatorReceived a set_pose request (stamp: 1791578679295742484, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.813ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206749 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206749 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.50sINFOamclParticle filter update iteration stats: 1745 particles 811 points - 6.409ms + 3.55sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791578679.86887336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (8.33e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786455 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786455 ms (missed cycles : 3).[0m ×2 + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.13sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.658ms + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972680 ms (missed cycles : 5). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972680 ms (missed cycles : 5).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.27sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.27sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364832 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364832 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301939 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301939 ms (missed cycles : 3).[0m ×2 + 8.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.639ms + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503572 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503572 ms (missed cycles : 3).[0m ×2 + 9.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.343ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324953 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324953 ms (missed cycles : 2).[0m ×2 + 10.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.921ms + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766678 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766678 ms (missed cycles : 2).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.218ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548909 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548909 ms (missed cycles : 3).[0m ×2 + 12.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.293ms + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.596969 ms (missed cycles : 6). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.596969 ms (missed cycles : 6).[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.248ms + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.833ms + 14.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.584ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432827 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432827 ms (missed cycles : 3).[0m ×2 + 14.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.072ms + 15.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.598ms + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443068 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443068 ms (missed cycles : 3).[0m ×2 + 15.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.248ms + 15.54sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×8 + 16.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.330ms + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855390 ms (missed cycles : 3). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855390 ms (missed cycles : 3).[0m ×2 + 16.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.850ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.591ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182194 ms (missed cycles : 5). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182194 ms (missed cycles : 5).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.178ms + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.273ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937191 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937191 ms (missed cycles : 3).[0m ×2 + 18.58sWARNros2_control_nodeCamera render tick took 0.56 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 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.660ms + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.368ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661460 ms (missed cycles : 3). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661460 ms (missed cycles : 3).[0m ×2 + 19.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.862ms + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.060ms + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742329 ms (missed cycles : 3). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742329 ms (missed cycles : 3).[0m ×2 + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.456ms + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.840ms + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058390 ms (missed cycles : 3). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058390 ms (missed cycles : 3).[0m ×2 + 21.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.294ms + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.618ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091978 ms (missed cycles : 5). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091978 ms (missed cycles : 5).[0m ×2 + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.843ms + 23.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.790ms + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996867 ms (missed cycles : 5). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996867 ms (missed cycles : 5).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.609ms + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.987ms + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061340 ms (missed cycles : 3). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061340 ms (missed cycles : 3).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.424ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.120ms + 25.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.407ms + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633739 ms (missed cycles : 3). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633739 ms (missed cycles : 3).[0m ×2 + 26.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.670ms + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.808ms + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699741 ms (missed cycles : 2). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699741 ms (missed cycles : 2).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.593ms + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.690ms + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932526 ms (missed cycles : 5). + 27.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932526 ms (missed cycles : 5).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.001ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.969ms + 28.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171182 ms (missed cycles : 2). + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171182 ms (missed cycles : 2).[0m ×2 + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.761ms + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.122ms + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417548 ms (missed cycles : 3). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417548 ms (missed cycles : 3).[0m ×2 + 29.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.239ms + 30.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.109ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144918 ms (missed cycles : 4). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144918 ms (missed cycles : 4).[0m ×2 + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.423ms + 31.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.740ms + 31.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.809ms + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830498 ms (missed cycles : 3). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830498 ms (missed cycles : 3).[0m ×2 + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.397ms + 32.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.631ms + 32.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423904 ms (missed cycles : 3). + 32.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423904 ms (missed cycles : 3).[0m ×2 + 33.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.936ms + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886507 ms (missed cycles : 5). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886507 ms (missed cycles : 5).[0m ×2 + 34.68sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078148 ms (missed cycles : 2). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078148 ms (missed cycles : 2).[0m ×2 + 36.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280671 ms (missed cycles : 3). + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280671 ms (missed cycles : 3).[0m ×2 + 36.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.583ms + 37.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543218 ms (missed cycles : 3). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543218 ms (missed cycles : 3).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934244 ms (missed cycles : 2). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934244 ms (missed cycles : 2).[0m ×2 + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.899ms + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332510 ms (missed cycles : 2). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332510 ms (missed cycles : 2).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820623 ms (missed cycles : 2). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820623 ms (missed cycles : 2).[0m ×2 + 41.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.594ms + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062419 ms (missed cycles : 3). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062419 ms (missed cycles : 3).[0m ×2 + 42.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.003ms + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251814 ms (missed cycles : 3). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251814 ms (missed cycles : 3).[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411603 ms (missed cycles : 4). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411603 ms (missed cycles : 4).[0m ×2 + 44.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.869ms + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837487 ms (missed cycles : 2). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837487 ms (missed cycles : 2).[0m ×2 + 45.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.750ms + 46.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365634 ms (missed cycles : 3). + 46.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365634 ms (missed cycles : 3).[0m ×2 + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319910 ms (missed cycles : 2). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319910 ms (missed cycles : 2).[0m ×2 + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757711 ms (missed cycles : 3). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757711 ms (missed cycles : 3).[0m ×2 + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.935ms + 49.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703841 ms (missed cycles : 3). + 49.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703841 ms (missed cycles : 3).[0m ×2 + 50.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058069 ms (missed cycles : 5). + 50.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058069 ms (missed cycles : 5).[0m ×2 + 51.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.846292 ms (missed cycles : 5). + 51.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.846292 ms (missed cycles : 5).[0m ×2 + 51.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.926ms + 52.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950455 ms (missed cycles : 3). + 52.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950455 ms (missed cycles : 3).[0m ×2 + 53.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940529 ms (missed cycles : 3). + 53.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940529 ms (missed cycles : 3).[0m ×2 + 54.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558716 ms (missed cycles : 3). + 54.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558716 ms (missed cycles : 3).[0m ×2 + 55.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851724 ms (missed cycles : 2). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851724 ms (missed cycles : 2).[0m ×2 + 55.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.475ms + 56.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202717 ms (missed cycles : 2). + 56.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202717 ms (missed cycles : 2).[0m ×2 + 57.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5). + 57.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5).[0m ×2 + 58.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3). + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3).[0m ×2 + 59.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 59.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3). + 59.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3).[0m ×2 + 60.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791578736.60900927 seconds ×3 + 60.33sINFOstate_estimatorReceived a set_pose request (stamp: 1791578736642671525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.43sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 60.43sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 60.53sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.53sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.63sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.63sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.85sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3). + 60.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3).[0m ×2 + 60.90sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791578737.22428942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.00sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.792ms + 61.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 61.32sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 61.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.585ms + 61.72sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3). + 61.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3).[0m ×2 + 62.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2). + 62.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2).[0m ×2 + 63.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4). + 63.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.6s | 214 warnings · 240 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080362 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080362 ms (missed cycles : 3).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.730ms ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.259ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217669 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217669 ms (missed cycles : 4).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.828ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504380 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504380 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883613 ms (missed cycles : 6). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883613 ms (missed cycles : 6).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.24sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.27sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791578775.83112764 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791578775853942485, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.647ms + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791578776.44775939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669512 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669512 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487307 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487307 ms (missed cycles : 3).[0m ×2 + 5.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.43sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 5.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×10 + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.807ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007799 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007799 ms (missed cycles : 2).[0m ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.77sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.77sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.78sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.78sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246341 ms (missed cycles : 4). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246341 ms (missed cycles : 4).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768546 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768546 ms (missed cycles : 3).[0m ×2 + 9.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.478ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450446 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450446 ms (missed cycles : 3).[0m ×2 + 10.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.831ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003940 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003940 ms (missed cycles : 2).[0m ×2 + 11.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.416ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381505 ms (missed cycles : 4). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381505 ms (missed cycles : 4).[0m ×2 + 12.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.857ms + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208556 ms (missed cycles : 4). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208556 ms (missed cycles : 4).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.580ms + 13.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.758ms + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772463 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772463 ms (missed cycles : 2).[0m ×2 + 14.15sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 14.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.560ms + 14.18sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 14.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.213ms + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049324 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049324 ms (missed cycles : 2).[0m ×2 + 15.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.420ms + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.862ms + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746091 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746091 ms (missed cycles : 2).[0m ×2 + 16.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.366ms + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.253ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564155 ms (missed cycles : 3). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564155 ms (missed cycles : 3).[0m ×2 + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.846ms + 17.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.063ms + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226007 ms (missed cycles : 4). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226007 ms (missed cycles : 4).[0m ×2 + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.393ms + 18.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.739ms + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.941ms + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962594 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962594 ms (missed cycles : 3).[0m ×2 + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.249ms + 20.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.915ms + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851892 ms (missed cycles : 2). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851892 ms (missed cycles : 2).[0m ×2 + 20.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.243ms + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.451ms + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782998 ms (missed cycles : 3). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782998 ms (missed cycles : 3).[0m ×2 + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.002ms + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.043ms + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293664 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293664 ms (missed cycles : 2).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.305ms + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.515ms + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.396746 ms (missed cycles : 6). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.396746 ms (missed cycles : 6).[0m ×2 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.621ms + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847245 ms (missed cycles : 2). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847245 ms (missed cycles : 2).[0m ×2 + 24.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.986ms + 25.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.164ms + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859394 ms (missed cycles : 3). + 25.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859394 ms (missed cycles : 3).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.942ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.172ms + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500385 ms (missed cycles : 3). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500385 ms (missed cycles : 3).[0m ×2 + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.363ms + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.729ms + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947987 ms (missed cycles : 5). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947987 ms (missed cycles : 5).[0m ×2 + 27.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.621ms + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.467ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488558 ms (missed cycles : 2). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488558 ms (missed cycles : 2).[0m ×2 + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.416ms + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.728ms + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074978 ms (missed cycles : 4). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074978 ms (missed cycles : 4).[0m ×2 + 29.81sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 29.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.077ms + 29.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.688ms + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670767 ms (missed cycles : 2). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670767 ms (missed cycles : 2).[0m ×2 + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.423ms + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.249ms + 31.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226213 ms (missed cycles : 2). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226213 ms (missed cycles : 2).[0m ×2 + 31.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.976ms + 31.94sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.344ms + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725360 ms (missed cycles : 2). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725360 ms (missed cycles : 2).[0m ×2 + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.099ms + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.172ms + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534940 ms (missed cycles : 5). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534940 ms (missed cycles : 5).[0m ×2 + 34.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.432ms + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370690 ms (missed cycles : 3). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370690 ms (missed cycles : 3).[0m ×2 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857572 ms (missed cycles : 5). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857572 ms (missed cycles : 5).[0m ×2 + 37.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893336 ms (missed cycles : 5). + 37.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893336 ms (missed cycles : 5).[0m ×2 + 37.55sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525284 ms (missed cycles : 3). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525284 ms (missed cycles : 3).[0m ×2 + 38.39sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 39.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747478 ms (missed cycles : 2). + 39.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747478 ms (missed cycles : 2).[0m ×2 + 39.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.784ms + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602320 ms (missed cycles : 3). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602320 ms (missed cycles : 3).[0m ×2 + 40.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.438ms + 41.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.915ms + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.262082 ms (missed cycles : 4). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.262082 ms (missed cycles : 4).[0m ×2 + 41.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.830ms + 42.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.396ms + 42.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853216 ms (missed cycles : 3). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853216 ms (missed cycles : 3).[0m ×2 + 42.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.365ms + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247514 ms (missed cycles : 4). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247514 ms (missed cycles : 4).[0m ×2 + 43.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.185ms + 44.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108318 ms (missed cycles : 5). + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108318 ms (missed cycles : 5).[0m ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444228 ms (missed cycles : 2). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444228 ms (missed cycles : 2).[0m ×2 + 46.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.335ms + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959352 ms (missed cycles : 3). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959352 ms (missed cycles : 3).[0m ×2 + 46.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.568ms + 47.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.468ms + 47.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.006ms + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445099 ms (missed cycles : 4). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445099 ms (missed cycles : 4).[0m ×2 + 48.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.246ms + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436962 ms (missed cycles : 2). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436962 ms (missed cycles : 2).[0m ×2 + 49.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.396ms + 49.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 49.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.016ms + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972962 ms (missed cycles : 3). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972962 ms (missed cycles : 3).[0m ×2 + 50.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.650ms + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193573 ms (missed cycles : 2). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193573 ms (missed cycles : 2).[0m ×2 + 51.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.948ms + 52.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689284 ms (missed cycles : 2). + 52.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689284 ms (missed cycles : 2).[0m ×2 + 53.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016886 ms (missed cycles : 4). + 53.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016886 ms (missed cycles : 4).[0m ×2 + 53.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.965ms + 54.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407229 ms (missed cycles : 4). + 54.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407229 ms (missed cycles : 4).[0m ×2 + 54.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.498ms + 54.91sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791578827.46789527 seconds ×3 + 54.95sINFOstate_estimatorReceived a set_pose request (stamp: 1791578827487281536, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 55.00sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.53) is out of map bounds (-3.95, 4.15) to (1.03, 9.13). The costmap cannot raytrace for it. + 55.00sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.05) is out of map bounds (-3.95, 4.15) to (1.03, 9.13). The costmap cannot raytrace for it. + 55.10sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.53) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 55.10sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.05) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 55.20sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.20sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434436 ms (missed cycles : 3). + 55.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434436 ms (missed cycles : 3).[0m ×2 + 55.30sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.49) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.30sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.52sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791578828.08065963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.76sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.404ms + 55.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568175, y=-0.0171817, yaw=-0.0184014 + 55.94sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 56.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.235ms + 56.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900369 ms (missed cycles : 2). + 56.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900369 ms (missed cycles : 2).[0m ×2 + 57.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423236 ms (missed cycles : 3). + 57.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423236 ms (missed cycles : 3).[0m ×2 + 58.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.337345 ms (missed cycles : 4). + 58.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.337345 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 144 warnings · 426 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.08sINFOobjective_server_nodecaller: ×12 + 1.08sINFOobjective_server_nodetype: 0 ×12 + 1.08sINFOobjective_server_nodename: "" ×12 + 1.08sINFOobjective_server_nodeinstance_id: "" ×12 + 1.08sINFOobjective_server_node ×12 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.15sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.15sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090742 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090742 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348992 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348992 ms (missed cycles : 2).[0m ×2 + 7.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.558ms + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219144 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219144 ms (missed cycles : 2).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508773 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508773 ms (missed cycles : 3).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827633 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827633 ms (missed cycles : 2).[0m ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682104 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682104 ms (missed cycles : 2).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264686 ms (missed cycles : 5). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264686 ms (missed cycles : 5).[0m ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857061 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857061 ms (missed cycles : 2).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226054 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226054 ms (missed cycles : 2).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128265 ms (missed cycles : 4). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128265 ms (missed cycles : 4).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649723 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649723 ms (missed cycles : 3).[0m ×2 + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539677 ms (missed cycles : 3). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539677 ms (missed cycles : 3).[0m ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374095 ms (missed cycles : 3). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374095 ms (missed cycles : 3).[0m ×2 + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497950 ms (missed cycles : 3). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497950 ms (missed cycles : 3).[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548503 ms (missed cycles : 2). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548503 ms (missed cycles : 2).[0m ×2 + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373007 ms (missed cycles : 3). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373007 ms (missed cycles : 3).[0m ×2 + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839501 ms (missed cycles : 3). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839501 ms (missed cycles : 3).[0m ×2 + 23.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.427ms + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477629 ms (missed cycles : 2). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477629 ms (missed cycles : 2).[0m ×2 + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435549 ms (missed cycles : 2). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435549 ms (missed cycles : 2).[0m ×2 + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258701 ms (missed cycles : 2). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258701 ms (missed cycles : 2).[0m ×2 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068227 ms (missed cycles : 2). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068227 ms (missed cycles : 2).[0m ×2 + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772487 ms (missed cycles : 3). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772487 ms (missed cycles : 3).[0m ×2 + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822562 ms (missed cycles : 2). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822562 ms (missed cycles : 2).[0m ×2 + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150144 ms (missed cycles : 2). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150144 ms (missed cycles : 2).[0m ×2 + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473876 ms (missed cycles : 2). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473876 ms (missed cycles : 2).[0m ×2 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774511 ms (missed cycles : 3). + 33.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774511 ms (missed cycles : 3).[0m ×2 + 34.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245916 ms (missed cycles : 2). + 34.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245916 ms (missed cycles : 2).[0m ×2 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760790 ms (missed cycles : 3). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760790 ms (missed cycles : 3).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088853 ms (missed cycles : 2). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088853 ms (missed cycles : 2).[0m ×2 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911962 ms (missed cycles : 2). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911962 ms (missed cycles : 2).[0m ×2 + 38.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.262ms + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253385 ms (missed cycles : 2). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253385 ms (missed cycles : 2).[0m ×2 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093474 ms (missed cycles : 3). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093474 ms (missed cycles : 3).[0m ×2 + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044632 ms (missed cycles : 2). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044632 ms (missed cycles : 2).[0m ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304792 ms (missed cycles : 3). + 41.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304792 ms (missed cycles : 3).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015985 ms (missed cycles : 2). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015985 ms (missed cycles : 2).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982476 ms (missed cycles : 5). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982476 ms (missed cycles : 5).[0m ×2 + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002593 ms (missed cycles : 3). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002593 ms (missed cycles : 3).[0m ×2 + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189768 ms (missed cycles : 3). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189768 ms (missed cycles : 3).[0m ×2 + 46.71sINFOjoint_trajectory_controllerGoal reached, success! + 46.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791578673.09064031 seconds ×3 + 46.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.79sINFOstate_estimatorReceived a set_pose request (stamp: 1791578673108072539, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818272 ms (missed cycles : 3). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818272 ms (missed cycles : 3).[0m ×2 + 47.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.697ms + 47.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.30sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791578673.67181969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047572 ms (missed cycles : 4). + 48.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047572 ms (missed cycles : 4).[0m ×2 + 48.50sINFOobjective_server_nodeFound path in 0 iterations (3.1309e-05 s). ×2 + 48.57sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.92sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg) + 48.92sINFOamclInitializing particles from estimated pose and covariance + 48.92sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg)[0m ×2 + 48.92sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0483731, y=-0.0214275, yaw=-0.00187148 + 49.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.140ms + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525566 ms (missed cycles : 3). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525566 ms (missed cycles : 3).[0m ×2 + 49.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.651ms + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5).[0m ×2 + 50.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.591ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 129 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343987 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343987 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535028 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535028 ms (missed cycles : 3).[0m ×2 + 1.66sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.66sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.70sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791578743.10443616 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671758 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671758 ms (missed cycles : 3).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135938 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135938 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791578744.70098209 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132283 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132283 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665026 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665026 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782773 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782773 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985544 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985544 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981635 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981635 ms (missed cycles : 2).[0m ×2 + 8.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.554ms + 9.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.832ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651018 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651018 ms (missed cycles : 3).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142128 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142128 ms (missed cycles : 2).[0m ×2 + 10.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.722ms + 11.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.211ms + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571900 ms (missed cycles : 3). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571900 ms (missed cycles : 3).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.393ms + 12.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602607 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602607 ms (missed cycles : 3).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.323ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.503ms + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063535 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063535 ms (missed cycles : 2).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.310ms + 14.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.276ms + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225700 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225700 ms (missed cycles : 2).[0m ×2 + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.609ms + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.517ms + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209441 ms (missed cycles : 2). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209441 ms (missed cycles : 2).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.640ms + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.098ms + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547177 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547177 ms (missed cycles : 3).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.243ms + 17.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.629ms + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225755 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225755 ms (missed cycles : 2).[0m ×2 + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.209ms + 17.59sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.381ms + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.272937 ms (missed cycles : 8). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.272937 ms (missed cycles : 8).[0m ×2 + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.547ms + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.563ms + 19.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.460ms + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320282 ms (missed cycles : 2). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320282 ms (missed cycles : 2).[0m ×2 + 20.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.238ms + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.087ms + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134739 ms (missed cycles : 2). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134739 ms (missed cycles : 2).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.086ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.307ms + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099664 ms (missed cycles : 4). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099664 ms (missed cycles : 4).[0m ×2 + 22.11sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.427ms + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.566ms + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366500 ms (missed cycles : 4). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366500 ms (missed cycles : 4).[0m ×2 + 23.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.378ms + 23.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.928ms + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375190 ms (missed cycles : 4). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375190 ms (missed cycles : 4).[0m ×2 + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.052ms + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.572ms + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347819 ms (missed cycles : 4). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347819 ms (missed cycles : 4).[0m ×2 + 25.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.147ms + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.663ms + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940859 ms (missed cycles : 2). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940859 ms (missed cycles : 2).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.641ms + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.304ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864173 ms (missed cycles : 3). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864173 ms (missed cycles : 3).[0m ×2 + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.956ms + 27.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.945ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921205 ms (missed cycles : 3). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921205 ms (missed cycles : 3).[0m ×2 + 28.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.394ms + 28.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.940ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182289 ms (missed cycles : 3). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182289 ms (missed cycles : 3).[0m ×2 + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.880ms + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.039ms + 30.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.950ms + 30.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044326 ms (missed cycles : 3). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044326 ms (missed cycles : 3).[0m ×2 + 30.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.006ms + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.024ms + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080362 ms (missed cycles : 3). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080362 ms (missed cycles : 3).[0m ×2 + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.730ms + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.259ms + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217669 ms (missed cycles : 4). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217669 ms (missed cycles : 4).[0m ×2 + 32.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.828ms + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504380 ms (missed cycles : 4). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504380 ms (missed cycles : 4).[0m ×2 + 33.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883613 ms (missed cycles : 6). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883613 ms (missed cycles : 6).[0m ×2 + 34.43sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791578775.83112764 seconds ×3 + 34.46sINFOstate_estimatorReceived a set_pose request (stamp: 1791578775853942485, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.65sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.65sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.647ms + 34.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.99sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791578776.44775939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669512 ms (missed cycles : 2). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669512 ms (missed cycles : 2).[0m ×2 + 35.48sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487307 ms (missed cycles : 3). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487307 ms (missed cycles : 3).[0m ×2 + 36.58sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 36.58sINFOamclInitializing particles from estimated pose and covariance + 36.58sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 36.58sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 36.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.807ms + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007799 ms (missed cycles : 2). + 37.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007799 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.5s | 82 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505510 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505510 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400057 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400057 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630003 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630003 ms (missed cycles : 3).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.987ms + 2.95sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.95sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791578967.69222188 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1791578967712302957, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.25) is out of map bounds (-3.15, -0.25) to (1.83, 4.73). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.27) is out of map bounds (-3.15, -0.25) to (1.83, 4.73). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627127 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627127 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.54sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.54sINFOobjective_server_nodecaller: ×6 + 3.54sINFOobjective_server_nodetype: 0 ×6 + 3.54sINFOobjective_server_nodename: "" ×6 + 3.54sINFOobjective_server_nodeinstance_id: "" ×6 + 3.54sINFOobjective_server_node ×6 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.737ms + 3.60sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791578968.29711843 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 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295631 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295631 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.39sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.39sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.39sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.08sWARNglobal_costmap.global_costmapSensor origin at (4.87, -2.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.25sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.25sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0547155, y=-0.0165351, yaw=-0.0170361 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.385ms + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847075 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847075 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.406676 ms (missed cycles : 6). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.406676 ms (missed cycles : 6).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577558 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577558 ms (missed cycles : 3).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264029 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264029 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789842 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789842 ms (missed cycles : 2).[0m ×2 + 10.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 10.17sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 10.30sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.34sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 10.47sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.52sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 10.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.97sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015909 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015909 ms (missed cycles : 3).[0m ×2 + 11.36sINFOobjective_server_nodeFound path in 33 iterations (0.0429829 s). ×2 + 11.85sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.92sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582960 ms (missed cycles : 3). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582960 ms (missed cycles : 3).[0m ×2 + 12.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.57sINFOobjective_server_nodeFound path in 0 iterations (7.2e-07 s). ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503394 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503394 ms (missed cycles : 3).[0m ×2 + 13.24sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 13.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936606 ms (missed cycles : 3). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936606 ms (missed cycles : 3).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004116 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004116 ms (missed cycles : 2).[0m ×2 + 15.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.618ms + 16.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534839 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534839 ms (missed cycles : 2).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.456ms + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378462 ms (missed cycles : 4). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378462 ms (missed cycles : 4).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.257ms + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371520 ms (missed cycles : 3). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371520 ms (missed cycles : 3).[0m ×2 + 19.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791578984.19001365 seconds ×3 + 19.53sINFOstate_estimatorReceived a set_pose request (stamp: 1791578984212207375, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008494 ms (missed cycles : 4). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008494 ms (missed cycles : 4).[0m ×2 + 19.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578984.81467056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.12sINFOmove_groupClearing octomap...[0m ×2 + 20.12sINFOmove_groupOctomap cleared.[0m ×2 + 20.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 20.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.253ms + 20.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 20.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 20.20sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568566, y=-0.017181, yaw=-0.0184014 + 20.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578985.32480097 seconds ×3 + 20.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409010 ms (missed cycles : 3). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409010 ms (missed cycles : 3).[0m ×2 + 21.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.17sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578985.90251994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807598 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807598 ms (missed cycles : 2).[0m ×2 + 22.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791578986.75264502 seconds ×3 + 22.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883829 ms (missed cycles : 3). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883829 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 112 errors · 34 warnings · 556 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.456ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378462 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378462 ms (missed cycles : 4).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.257ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371520 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371520 ms (missed cycles : 3).[0m ×2 + 1.96sINFOjoint_trajectory_controllerGoal reached, success! + 1.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791578984.19001365 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.02sINFOstate_estimatorReceived a set_pose request (stamp: 1791578984212207375, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008494 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008494 ms (missed cycles : 4).[0m ×2 + 2.31sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.53sINFOobjective_server_nodecaller: ×4 + 2.53sINFOobjective_server_nodetype: 0 ×4 + 2.53sINFOobjective_server_nodename: "" ×4 + 2.53sINFOobjective_server_nodeinstance_id: "" ×4 + 2.53sINFOobjective_server_node ×4 + 2.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578984.81467056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.65sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.65sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.253ms + 2.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.70sINFOamclInitializing particles from estimated pose and covariance + 2.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.70sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568566, y=-0.017181, yaw=-0.0184014 + 3.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578985.32480097 seconds ×3 + 3.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409010 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409010 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578985.90251994 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 1.807598 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807598 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791578986.75264502 seconds ×3 + 4.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883829 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883829 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135979 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135979 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156123 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156123 ms (missed cycles : 2).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562822 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562822 ms (missed cycles : 3).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990785 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990785 ms (missed cycles : 2).[0m ×2 + 10.39sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORcomponent_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 + 10.44sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×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 + 10.45sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.48sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.49sERRORweb_video_auth_proxy-41process has died [pid 7969, 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 + 10.49sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.51sERRORweb_bridge_auth_proxy-40process has died [pid 7968, 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 + 10.51sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.52sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.53sINFOvideo_server-39process has finished cleanly [pid 7959] ×2 + 10.54sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.55sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.56sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.57sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.58sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.59sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.60sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.61sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.63sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.64sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.65sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.67sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.68sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.68sINFOcontroller_managerShutdown request received.... + 10.68sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.69sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.69sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.69sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.69sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.69sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.69sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.69sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.69sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.69sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.69sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.69sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.69sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.69sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.69sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.69sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.69sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.69sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.69sINFOcontroller_managerShutting down the controller manager. + 10.70sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.71sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.73sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.73sERRORmove_group-25process has died [pid 7936, 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_71ukbn1o --params-file /tmp/launch_params_p6my1tv7 --params-file /tmp/launch_params_z55rxd2c --params-file /tmp/launch_params_g880x7x2 --params-file /tmp/launch_params_vtjb0_8i --params-file /tmp/launch_params_0wk7v4q4']. ×2 + 10.74sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.75sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.77sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.78sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.79sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.80sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.81sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.82sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.82sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.82sINFOmap_serverDeactivating + 10.82sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.83sINFOlifecycle_manager_localization[34m[1mHave not received a heartbeat from map_server.[0m[0m + 10.83sERRORlifecycle_manager_localizationCRITICAL FAILURE: SERVER map_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.83sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.83sINFOlifecycle_manager_localization[34m[1mResetting managed nodes...[0m[0m + 10.83sINFOlifecycle_manager_localization[34m[1mDeactivating amcl[0m[0m + 10.83sINFOamclDeactivating + 10.83sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.83sINFOmap_serverCleaning up + 10.83sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.83sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.83sINFOcontroller_serverDeactivating + 10.83sINFOlocal_costmap.local_costmapDeactivating + 10.83sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.83sINFOvideo_server2026/10/09 20:49:52 INF shutting down gracefully ×2 + 10.83sINFOvideo_server2026/10/09 20:49:52 INF [WebRTC] closing ×2 + 10.83sINFOvideo_server2026/10/09 20:49:52 INF [RTSP] closing ×2 + 10.83sINFOvideo_server2026/10/09 20:49:52 INF waiting for running hooks ×2 + 10.83sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.84sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.84sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.84sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.84sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.84sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.84sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.84sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.84sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.84sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.84sERRORmove_groupStack trace (most recent call last) in thread 8607: ×2 + 10.84sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.84sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb428b70cc3, in __clone ×2 + 10.84sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb428ae3b83, in ×2 + 10.84sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb428d74db3, in ×2 + 10.84sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fb4294dcf14, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.84sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb429108620, in rclcpp::Rate::sleep() ×2 + 10.84sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb42904ad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.84sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb42900c087, in ×2 + 10.84sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb428d43390, in __cxa_throw ×2 + 10.84sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb428d2da54, in std::terminate() ×2 + 10.84sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb428d430d9, in ×2 + 10.84sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.84sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.84sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.84sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.84sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.84sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.84sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.84sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.84sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb428d2dff4, in ×2 + 10.84sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb428a6f8fe, in abort ×2 + 10.84sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb428a8c27d, in raise ×2 + 10.84sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb428ae5c0c, in pthread_kill ×2 + 10.84sERRORmove_groupAborted (Signal sent by tkill() 7936 0) ×2 + 10.84sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.84sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.84sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.84sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.85sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.85sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.86sINFOcontroller_serverCleaning up + 10.86sINFOlocal_costmap.local_costmapCleaning up + 10.89sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.89sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.89sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.89sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.89sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.89sINFOvelocity_smootherDeactivating + 10.89sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.90sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.90sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.90sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.90sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.90sINFOsmoother_serverDeactivating + 10.90sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.92sINFOsmoother_serverCleaning up + 10.93sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.93sINFOplanner_serverDeactivating + 10.93sINFOglobal_costmap.global_costmapDeactivating + 11.04sINFOlifecycle_manager_localization[34m[1mDeactivating map_server[0m[0m + 11.04sERRORmap_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sERRORlifecycle_manager_localizationFailed to change state for node: map_server + 11.04sINFOlifecycle_manager_localization[34m[1mCleaning up amcl[0m[0m + 11.04sINFOlifecycle_manager_localization[34m[1mCleaning up map_server[0m[0m + 11.04sERRORmap_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sINFOlifecycle_manager_localization[34m[1mManaged nodes have been reset[0m[0m + 11.07sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.07sINFOwaypoint_followerDeactivating + 11.07sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.19sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.19sINFObt_navigatorDeactivating + 11.19sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.30sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.30sINFObehavior_serverDeactivating + 11.30sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.41sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.41sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.41sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.41sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.41sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.42sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.42sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.42sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.42sINFOvelocity_smootherCleaning up + 11.42sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.42sINFOwaypoint_followerCleaning up + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.45sINFObt_navigatorCleaning up + 11.57sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.57sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.57sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.57sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.57sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.57sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.57sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.57sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.57sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.57sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.57sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.57sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.57sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.58sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.58sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.58sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.58sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.58sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.58sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.58sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.58sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.58sINFOtf2_web_republisher_node-38process has finished cleanly [pid 7957] ×2 + 11.58sINFOplanner_serverCleaning up + 11.58sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.60sINFOglobal_costmap.global_costmapCleaning up + 11.61sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.61sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.63sINFObt_navigatorCompleted Cleaning up + 11.64sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.64sINFObehavior_serverCleaning up + 11.64sERRORjoint_state_visualization_relay-37process has died [pid 7956, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay --ros-args --params-file /tmp/launch_params_384f4wkh']. ×2 + 11.64sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.65sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.65sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.65sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.65sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.65sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.66sINFOtf_visualization_relay-36process has finished cleanly [pid 7955] ×2 + 11.67sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.70sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 7940] ×2 + 11.70sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.70sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.70sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.70sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.71sINFOui_teleop_bridge-34process has finished cleanly [pid 7953] ×2 + 11.71sINFOmove_joint_resampler_node-28process has finished cleanly [pid 7939] ×2 + 11.71sINFOexecute_objective_bridge-33process has finished cleanly [pid 7950] ×2 + 11.76sINFOparameter_manager_node-26process has finished cleanly [pid 7937] ×2 + 11.77sINFOwaypoint_manager_node-27process has finished cleanly [pid 7938] ×2 + 11.78sINFOrelay-11process has finished cleanly [pid 7878] ×2 + 11.78sINFOrelay-10process has finished cleanly [pid 7877] ×2 + 11.80sINFOcomponent_container_mt-32process has finished cleanly [pid 7947] ×2 + 11.80sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7773] ×2 + 11.80sINFOobjective_server_node[2026-10-09 20:49:54.006] [moveit_pro_license] [critical] ×2 + 11.80sINFOobjective_server_node************************************************* ×4 + 11.80sINFOobjective_server_node* MoveIt Pro License ×2 + 11.80sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.82sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 7879] ×2 + 11.82sINFOstatic_transform_publisher-7process has finished cleanly [pid 7771] ×2 + 11.82sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7772] ×2 + 11.83sINFOstatic_transform_publisher-6process has finished cleanly [pid 7770] ×2 + 11.83sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.83sINFOlidar_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 + 11.83sINFOlidar_flattener.pymain() ×2 + 11.83sINFOlidar_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 + 11.83sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.83sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.83sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.83sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.83sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.83sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.83sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.83sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.83sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.83sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.83sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.83sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.83sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.83sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.85sINFOstatic_transform_publisher-3process has finished cleanly [pid 7767] ×2 + 11.88sINFOobjective_server_node_main-30process has finished cleanly [pid 7944] ×2 + 11.88sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 11.92sERRORlidar_flattener.py-5process has died [pid 7769, 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_w4xqcreh']. ×2 + 12.01sERRORcomponent_container_isolated-1process has died [pid 7765, 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_wmrircz4 --params-file /tmp/launch_params_79cc946z -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.32sERRORcomponent_container_isolated-2process has died [pid 7766, 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_wmrircz4 --params-file /tmp/launch_params__6z5quib -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.83sINFOcomponent_container_mt-31process has finished cleanly [pid 7945] ×2 + 12.85sINFOodom_world_drift-4process has finished cleanly [pid 7768] ×2 + 13.37sINFOweb_bridge-35process has finished cleanly [pid 7954] ×2 + 13.37sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 13.41sINFOros2_control_node-13process has finished cleanly [pid 7880] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 85 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689284 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689284 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016886 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016886 ms (missed cycles : 4).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.965ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407229 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407229 ms (missed cycles : 4).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.498ms + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791578827.46789527 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOstate_estimatorReceived a set_pose request (stamp: 1791578827487281536, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.53) is out of map bounds (-3.95, 4.15) to (1.03, 9.13). The costmap cannot raytrace for it. + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.05) is out of map bounds (-3.95, 4.15) to (1.03, 9.13). The costmap cannot raytrace for it. + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.53) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.05) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434436 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434436 ms (missed cycles : 3).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.49) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791578828.08065963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.404ms + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.74sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.75sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568175, y=-0.0171817, yaw=-0.0184014 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.235ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900369 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900369 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423236 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423236 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.28sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.337345 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.337345 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331237 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331237 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183389 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183389 ms (missed cycles : 2).[0m ×2 + 8.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.376ms + 9.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.802ms + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524008 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524008 ms (missed cycles : 3).[0m ×2 + 10.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.432ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145933 ms (missed cycles : 4). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145933 ms (missed cycles : 4).[0m ×2 + 10.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.208ms + 10.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.184ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233774 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233774 ms (missed cycles : 3).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.052ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532477 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532477 ms (missed cycles : 2).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.470ms + 13.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.460ms + 13.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.336ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264566 ms (missed cycles : 4). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264566 ms (missed cycles : 4).[0m ×2 + 13.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOjoint_trajectory_controllerGot request to cancel goal + 13.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.93sERRORobjective_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: 1791578838.50496387 seconds ×3 + 13.97sINFOstate_estimatorReceived a set_pose request (stamp: 1791578838522217365, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 14.08sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 14.08sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 14.18sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.18sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.28sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.28sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791578839.10440063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sINFOamclParticle filter update iteration stats: 4900 particles 811 points - 11.536ms + 14.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568364, y=-0.0171815, yaw=-0.0184021 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554172 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554172 ms (missed cycles : 3).[0m ×2 + 14.93sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 15.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.306ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594668 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594668 ms (missed cycles : 3).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304433 ms (missed cycles : 3). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304433 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.5s | 54 warnings · 149 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.70sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791578736.60900927 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1791578736642671525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791578737.22428942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.792ms + 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=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.585ms + 4.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343987 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343987 ms (missed cycles : 3).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535028 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535028 ms (missed cycles : 3).[0m ×2 + 9.22sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791578743.10443616 seconds ×3 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671758 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671758 ms (missed cycles : 3).[0m ×2 + 10.61sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135938 ms (missed cycles : 4). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135938 ms (missed cycles : 4).[0m ×2 + 10.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.76sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791578744.70098209 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132283 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132283 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665026 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665026 ms (missed cycles : 2).[0m ×2 + 13.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782773 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782773 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 57 warnings · 148 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.282ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417676 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417676 ms (missed cycles : 3).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.779ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.320ms + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.687ms + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089893 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089893 ms (missed cycles : 3).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.914ms + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.881ms + 2.46sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465634 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465634 ms (missed cycles : 3).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.06sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.11sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791578903.85459399 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOstate_estimatorReceived a set_pose request (stamp: 1791578903872301967, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.50) is out of map bounds (-3.30, 0.75) to (1.68, 5.73). The costmap cannot raytrace for it. + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.33) is out of map bounds (-3.30, 0.75) to (1.68, 5.73). The costmap cannot raytrace for it. + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.50) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-2.68, 13.54) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.51sWARNlocal_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. ×5 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506195 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506195 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791578904.44435668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.468ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 4.18sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.18sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.18sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.18sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870328 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870328 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553766 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553766 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 9.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 10.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.20sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.59sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 12.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 39 warnings · 162 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982476 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982476 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002593 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002593 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189768 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189768 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791578673.09064031 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOstate_estimatorReceived a set_pose request (stamp: 1791578673108072539, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818272 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818272 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.697ms + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791578673.67181969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047572 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047572 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.1309e-05 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg) + 5.21sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg)[0m ×2 + 5.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0483731, y=-0.0214275, yaw=-0.00187148 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.140ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525566 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525566 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.651ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.591ms + 7.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.907ms + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559569 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559569 ms (missed cycles : 3).[0m ×2 + 7.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.999ms + 8.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.829ms + 8.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.051ms + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338499 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338499 ms (missed cycles : 2).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.636ms + 9.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791578679.28195405 seconds ×3 + 9.27sINFOstate_estimatorReceived a set_pose request (stamp: 1791578679295742484, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.813ms + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206749 ms (missed cycles : 4). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206749 ms (missed cycles : 4).[0m ×2 + 9.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.78sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.78sINFOamclParticle filter update iteration stats: 1745 particles 811 points - 6.409ms + 9.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791578679.86887336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (8.33e-07 s). ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786455 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786455 ms (missed cycles : 3).[0m ×2 + 11.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 11.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 11.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.658ms + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972680 ms (missed cycles : 5). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972680 ms (missed cycles : 5).[0m ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364832 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364832 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 26 warnings · 128 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534839 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534839 ms (missed cycles : 2).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.456ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378462 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378462 ms (missed cycles : 4).[0m ×2 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.257ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371520 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371520 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791578984.19001365 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 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_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 + 2.96sINFOstate_estimatorReceived a set_pose request (stamp: 1791578984212207375, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008494 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008494 ms (missed cycles : 4).[0m ×2 + 3.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578984.81467056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.253ms + 3.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.63sINFOamclInitializing particles from estimated pose and covariance + 3.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568566, y=-0.017181, yaw=-0.0184014 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578985.32480097 seconds ×3 + 4.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409010 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409010 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578985.90251994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807598 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807598 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791578986.75264502 seconds ×3 + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883829 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883829 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135979 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135979 ms (missed cycles : 2).[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 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_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 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982476 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982476 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002593 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002593 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189768 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189768 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791578673.09064031 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOstate_estimatorReceived a set_pose request (stamp: 1791578673108072539, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818272 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818272 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.697ms + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791578673.67181969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047572 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047572 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.1309e-05 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOjoint_trajectory_controllerReceived new action goal + 4.89sINFOjoint_trajectory_controllerAccepted new action goal + 4.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg) + 5.21sINFOamclInitializing particles from estimated pose and covariance + 5.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg)[0m ×2 + 5.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0483731, y=-0.0214275, yaw=-0.00187148 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.140ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525566 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525566 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.651ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.591ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982476 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982476 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002593 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002593 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189768 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189768 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791578673.09064031 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sINFOstate_estimatorReceived a set_pose request (stamp: 1791578673108072539, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818272 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818272 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.697ms + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791578673.67181969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047572 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047572 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (3.1309e-05 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOjoint_trajectory_controllerReceived new action goal + 4.89sINFOjoint_trajectory_controllerAccepted new action goal + 4.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg) + 5.21sINFOamclInitializing particles from estimated pose and covariance + 5.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg)[0m ×2 + 5.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0483731, y=-0.0214275, yaw=-0.00187148 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.140ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525566 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525566 ms (missed cycles : 3).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.651ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.591ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.92sINFOobjective_server_nodecaller: ×10 + 2.92sINFOobjective_server_nodetype: 0 ×10 + 2.92sINFOobjective_server_nodename: "" ×10 + 2.92sINFOobjective_server_nodeinstance_id: "" ×10 + 2.92sINFOobjective_server_node ×10 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.97sINFOmove_groupClearing octomap...[0m ×4 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×4 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 85 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.651ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933493 ms (missed cycles : 5).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.591ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.907ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559569 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559569 ms (missed cycles : 3).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.999ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.829ms + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.051ms + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338499 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338499 ms (missed cycles : 2).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.636ms + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791578679.28195405 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOstate_estimatorReceived a set_pose request (stamp: 1791578679295742484, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.813ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206749 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206749 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.50sINFOamclParticle filter update iteration stats: 1745 particles 811 points - 6.409ms + 3.55sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791578679.86887336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (8.33e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786455 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786455 ms (missed cycles : 3).[0m ×2 + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.13sINFOamclInitializing particles from estimated pose and covariance + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.658ms + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972680 ms (missed cycles : 5). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972680 ms (missed cycles : 5).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364832 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364832 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791578736.60900927 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1791578736642671525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791578737.22428942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.792ms + 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=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.585ms + 4.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Localize Robot | localize_robot.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791578736.60900927 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1791578736642671525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791578737.22428942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.792ms + 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=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.585ms + 4.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Localize Robot If Needed | localize_robot_if_needed.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791578736.60900927 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1791578736642671525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791578737.22428942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.792ms + 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=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.585ms + 4.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791578736.60900927 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1791578736642671525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791578737.22428942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.792ms + 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=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.585ms + 4.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791578736.60900927 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1791578736642671525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791578737.22428942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.792ms + 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=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.585ms + 4.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791578736.60900927 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1791578736642671525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791578737.22428942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.792ms + 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=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.585ms + 4.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 33 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193804 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273782 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416740 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791578736.60900927 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1791578736642671525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-5.25, 7.75) to (-0.27, 12.73). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147276 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791578737.22428942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.792ms + 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=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.585ms + 4.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.17sINFOjoint_trajectory_controllerReceived new action goal + 4.17sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690383 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101458 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872879 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 29 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080362 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080362 ms (missed cycles : 3).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.730ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.259ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217669 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217669 ms (missed cycles : 4).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.828ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504380 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504380 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883613 ms (missed cycles : 6). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883613 ms (missed cycles : 6).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791578775.83112764 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791578775853942485, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.647ms + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791578776.44775939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669512 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669512 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487307 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487307 ms (missed cycles : 3).[0m ×2 + 5.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.43sINFOamclInitializing particles from estimated pose and covariance + 5.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 5.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.807ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007799 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007799 ms (missed cycles : 2).[0m ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 29 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080362 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080362 ms (missed cycles : 3).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.730ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.259ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217669 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217669 ms (missed cycles : 4).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.828ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504380 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504380 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883613 ms (missed cycles : 6). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883613 ms (missed cycles : 6).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791578775.83112764 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791578775853942485, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.647ms + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791578776.44775939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669512 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669512 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487307 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487307 ms (missed cycles : 3).[0m ×2 + 5.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.43sINFOamclInitializing particles from estimated pose and covariance + 5.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 5.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.807ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007799 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007799 ms (missed cycles : 2).[0m ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 29 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080362 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080362 ms (missed cycles : 3).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.730ms + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.259ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217669 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217669 ms (missed cycles : 4).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.828ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504380 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504380 ms (missed cycles : 4).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883613 ms (missed cycles : 6). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883613 ms (missed cycles : 6).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791578775.83112764 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791578775853942485, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.647ms + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791578776.44775939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669512 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669512 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487307 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487307 ms (missed cycles : 3).[0m ×2 + 5.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.43sINFOamclInitializing particles from estimated pose and covariance + 5.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 5.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.807ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007799 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007799 ms (missed cycles : 2).[0m ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.92sINFOobjective_server_nodecaller: ×10 + 2.92sINFOobjective_server_nodetype: 0 ×10 + 2.92sINFOobjective_server_nodename: "" ×10 + 2.92sINFOobjective_server_nodeinstance_id: "" ×10 + 2.92sINFOobjective_server_node ×10 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.97sINFOmove_groupClearing octomap...[0m ×4 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×4 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − 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 5.255627 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 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 5.255627 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 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 5.255627 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.92sINFOobjective_server_nodecaller: ×10 + 2.92sINFOobjective_server_nodetype: 0 ×10 + 2.92sINFOobjective_server_nodename: "" ×10 + 2.92sINFOobjective_server_nodeinstance_id: "" ×10 + 2.92sINFOobjective_server_node ×10 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.97sINFOmove_groupClearing octomap...[0m ×4 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×4 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − 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 5.255627 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 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 5.255627 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 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 5.255627 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 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 5.255627 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 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 5.255627 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 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 5.255627 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255627 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799729 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486786 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791578910.33449984 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663914 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791578910.95207810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843862 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371906 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747109 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 23 warnings · 128 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534839 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534839 ms (missed cycles : 2).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.456ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378462 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378462 ms (missed cycles : 4).[0m ×2 + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.257ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371520 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371520 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791578984.19001365 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 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_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 + 2.96sINFOstate_estimatorReceived a set_pose request (stamp: 1791578984212207375, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008494 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008494 ms (missed cycles : 4).[0m ×2 + 3.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791578984.81467056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.253ms + 3.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.63sINFOamclInitializing particles from estimated pose and covariance + 3.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568566, y=-0.017181, yaw=-0.0184014 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791578985.32480097 seconds ×3 + 4.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.027ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409010 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409010 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791578985.90251994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807598 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807598 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791578986.75264502 seconds ×3 + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883829 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883829 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.92sINFOobjective_server_nodecaller: ×10 + 2.92sINFOobjective_server_nodetype: 0 ×10 + 2.92sINFOobjective_server_nodename: "" ×10 + 2.92sINFOobjective_server_nodeinstance_id: "" ×10 + 2.92sINFOobjective_server_node ×10 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.97sINFOmove_groupClearing octomap...[0m ×4 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×4 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 346 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.92sINFOobjective_server_nodecaller: ×10 + 2.92sINFOobjective_server_nodetype: 0 ×10 + 2.92sINFOobjective_server_nodename: "" ×10 + 2.92sINFOobjective_server_nodeinstance_id: "" ×10 + 2.92sINFOobjective_server_node ×10 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.97sINFOmove_groupClearing octomap...[0m ×4 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×4 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.99sINFOjoint_trajectory_controllerReceived new action goal + 6.99sINFOjoint_trajectory_controllerAccepted new action goal + 6.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.99sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 337 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.92sINFOobjective_server_nodecaller: ×10 + 2.92sINFOobjective_server_nodetype: 0 ×10 + 2.92sINFOobjective_server_nodename: "" ×10 + 2.92sINFOobjective_server_nodeinstance_id: "" ×10 + 2.92sINFOobjective_server_node ×10 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.97sINFOmove_groupClearing octomap...[0m ×4 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×4 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.92sINFOobjective_server_nodecaller: ×10 + 2.92sINFOobjective_server_nodetype: 0 ×10 + 2.92sINFOobjective_server_nodename: "" ×10 + 2.92sINFOobjective_server_nodeinstance_id: "" ×10 + 2.92sINFOobjective_server_node ×10 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.97sINFOmove_groupClearing octomap...[0m ×4 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×4 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.92sINFOobjective_server_nodecaller: ×10 + 2.92sINFOobjective_server_nodetype: 0 ×10 + 2.92sINFOobjective_server_nodename: "" ×10 + 2.92sINFOobjective_server_nodeinstance_id: "" ×10 + 2.92sINFOobjective_server_node ×10 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.97sINFOmove_groupClearing octomap...[0m ×4 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×4 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415000 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.92sINFOobjective_server_nodecaller: ×10 + 2.92sINFOobjective_server_nodetype: 0 ×10 + 2.92sINFOobjective_server_nodename: "" ×10 + 2.92sINFOobjective_server_nodeinstance_id: "" ×10 + 2.92sINFOobjective_server_node ×10 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.97sINFOmove_groupClearing octomap...[0m ×4 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×4 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − 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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − 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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[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 2.769344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769344 ms (missed cycles : 2).[0m ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.65sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.65sINFOros2_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 2.149812 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149812 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.71sINFOobjective_server_nodecaller: ×10 + 1.71sINFOobjective_server_nodetype: 0 ×10 + 1.71sINFOobjective_server_nodename: "" ×10 + 1.71sINFOobjective_server_nodeinstance_id: "" ×10 + 1.71sINFOobjective_server_node ×10 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791578627.45556808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.76sINFOmove_groupClearing octomap...[0m ×4 + 1.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×4 + 1.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791578627.46773410 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076553 ms (missed cycles : 4).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791578628.06101370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791578628.07113695 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791578628.65364742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011318 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791578628.80426192 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791578629.41901708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791578629.49915695 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038424 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791578630.09764910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327105 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.78sINFOjoint_trajectory_controllerReceived new action goal + 5.78sINFOjoint_trajectory_controllerAccepted new action goal + 5.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484886 ms (missed cycles : 3).[0m ×2 | ||||