MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

19.9s

Avg test time

100%

Objective pass rate

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2 pass

✓ passed	—	test_base_link_has_single_tf_parent	18.7s	12 errors · 309 warnings · 1589 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-10-09-19-18-54-889163-3db0723246e0-7728 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 3.49sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 3.50sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' + 3.51sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' + 3.54sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 3.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 3.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 3.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 3.60sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 3.60sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 3.60sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 3.60sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 3.61sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 3.63sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 3.63sINFOmap_serverCreating + 3.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 3.64sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 3.65sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 3.66sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 3.68sINFOcontroller_serverCreating controller server + 3.70sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 3.71sINFOlocal_costmap.local_costmapCreating Costmap + 3.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 3.75sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 3.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 3.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 3.76sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.76sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 3.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 3.77sINFOros2_control_node-13process started with pid [7893] ×2 + 3.77sINFOmove_group-25process started with pid [7951] ×2 + 3.77sINFOparameter_manager_node-26process started with pid [7952] ×2 + 3.79sINFOlifecycle_manager_localizationCreating + 3.79sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 3.79sINFOwaypoint_manager_node-27process started with pid [7953] ×2 + 3.79sINFOmove_joint_resampler_node-28process started with pid [7954] ×2 + 3.79sINFOmove_end_effector_resampler_node-29process started with pid [7956] ×2 + 3.79sINFOobjective_server_node_main-30process started with pid [7957] ×2 + 3.79sINFOcomponent_container_mt-31process started with pid [7964] ×2 + 3.79sINFOcomponent_container_mt-32process started with pid [7965] ×2 + 3.79sINFOexecute_objective_bridge-33process started with pid [7966] ×2 + 3.79sINFOui_teleop_bridge-34process started with pid [7968] ×2 + 3.79sINFOweb_bridge-35process started with pid [7969] ×2 + 3.79sINFOtf_visualization_relay-36process started with pid [7971] ×2 + 3.79sINFOjoint_state_visualization_relay-37process started with pid [7976] ×2 + 3.80sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 3.81sINFOtf2_web_republisher_node-38process started with pid [7977] ×2 + 3.81sINFOvideo_server-39process started with pid [7985] ×2 + 3.81sINFOweb_bridge_auth_proxy-40process started with pid [7986] ×2 + 3.81sINFOweb_video_auth_proxy-41process started with pid [7987] ×2 + 3.82sINFOsmoother_serverCreating smoother server + 3.82sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 3.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 3.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 3.83sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 3.83sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 3.83sINFOmap_serverConfiguring + 3.83sINFOcomponent_container_isolated-1process started with pid [7778] ×2 + 3.83sINFOcomponent_container_isolated-2process started with pid [7779] ×2 + 3.83sINFOstatic_transform_publisher-3process started with pid [7780] ×2 + 3.83sINFOodom_world_drift-4process started with pid [7781] ×2 + 3.83sINFOlidar_flattener.py-5process started with pid [7782] ×2 + 3.83sINFOstatic_transform_publisher-6process started with pid [7783] ×2 + 3.83sINFOstatic_transform_publisher-7process started with pid [7784] ×2 + 3.83sINFOscan_to_scan_filter_chain-8process started with pid [7785] ×2 + 3.83sINFOscan_to_scan_filter_chain-9process started with pid [7786] ×2 + 3.83sINFOrelay-10process started with pid [7890] ×2 + 3.83sINFOrelay-11process started with pid [7891] ×2 + 3.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 3.83sINFOfixed_lag_smoother_node-12process started with pid [7892] ×2 + 3.83sINFOros2-14process started with pid [7894] ×2 + 3.83sINFOros2-15process started with pid [7895] ×2 + 3.83sINFOros2-16process started with pid [7896] ×2 + 3.83sINFOros2-17process started with pid [7897] ×2 + 3.83sINFOros2-18process started with pid [7898] ×2 + 3.83sINFOros2-19process started with pid [7899] ×2 + 3.83sINFOros2-20process started with pid [7904] ×2 + 3.83sINFOros2-21process started with pid [7905] ×2 + 3.83sINFOros2-22process started with pid [7906] ×2 + 3.83sINFOros2-23process started with pid [7907] ×2 + 3.83sINFOros2-24process started with pid [7908] ×2 + 3.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 3.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 3.84sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 3.84sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 3.84sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 3.84sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 3.84sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 3.85sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 3.85sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 3.85sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 3.85sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 3.85sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 3.85sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 3.85sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 3.86sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 3.86sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 3.86sINFOcontroller_managerupdate rate is 600 Hz + 3.86sINFOcontroller_managerOverruns handling is : enabled + 3.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 3.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 3.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 3.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 3.86sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 3.86sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 3.87sINFOstate_estimatorReceived a set_pose request (stamp: 1791573540199227846, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 3.91sINFOplanner_serverCreating + 3.91sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 3.91sINFOamclConfiguring + 3.92sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 3.92sINFOmap_serverActivating + 3.93sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 3.94sINFOglobal_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. + 3.94sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 3.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 3.94sINFOglobal_costmap.global_costmapCreating Costmap + 3.94sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 3.95sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 3.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 3.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 3.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 3.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 3.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 3.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 3.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 3.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 3.99sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.04sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.04sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.04sINFOamclActivating + 4.05sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.05sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.07sINFOamclSubscribed to map_topic: /map + 4.08sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.08sINFOamclCreated reinitialize_global_localization service + 4.08sINFOamclCreated request_nomotion_update service + 4.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.09sINFOamclA new map was received + 4.09sINFOamclInitializing particle filter instance + 4.10sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.11sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.11sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.11sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.15sINFOrobot_state_publisherRobot initialized + 4.15sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.15sINFOcontroller_managerReceived robot description from topic. + 4.15sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.16sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.16sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.16sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.17sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359535 ms (missed cycles : 6). + 4.17sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.18sINFOvideo_server2026/10/09 19:19:00 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.18sINFOvideo_server2026/10/09 19:19:00 INF configuration loaded from /tmp/moveit-webrtc-jef4by51/mediamtx.yml ×2 + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359535 ms (missed cycles : 6).[0m ×2 + 4.18sINFOvideo_server2026/10/09 19:19:00 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.18sINFOvideo_server2026/10/09 19:19:00 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.19sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.21sINFObt_navigatorCreating + 4.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.30sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.31sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.33sINFOwaypoint_followerCreating + 4.34sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.40sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.41sINFOweb_video_auth_proxy2026-10-09 19:19:00,729 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 4.41sINFOweb_video_auth_proxy2026-10-09 19:19:00,730 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 4.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.43sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.43sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.44sINFOweb_bridge_auth_proxy2026-10-09 19:19:00,772 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 4.45sINFOlifecycle_manager_navigationCreating + 4.47sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 4.50sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 4.50sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 4.50sINFOcontroller_serverConfiguring controller interface + 4.50sINFOcontroller_servergetting progress checker plugins.. + 4.50sINFOcontroller_servergetting goal checker plugins.. + 4.50sINFOcontroller_serverController frequency set to 20.0000Hz + 4.50sINFOlocal_costmap.local_costmapConfiguring + 4.51sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 4.51sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 4.51sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 4.52sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 4.55sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 4.56sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.61sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 4.61sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 4.62sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 4.66sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 4.67sINFOcontroller_serverController Server has progress_checker progress checkers available. + 4.67sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 4.67sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 4.68sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 4.70sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 4.72sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 4.72sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 4.73sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 4.73sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 4.73sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 4.73sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 4.74sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 4.74sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 4.75sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 4.75sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 4.75sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 4.76sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 4.76sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 4.77sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 4.77sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 4.77sINFOcontroller_serverOptimizer reset ×2 + 4.79sINFOcontroller_serverController Server has FollowPath controllers available. + 4.81sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 4.81sINFOsmoother_serverConfiguring smoother server + 4.82sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 4.82sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.488169 seconds + 4.82sINFOmove_groupLoaded robot model in 0.488169 seconds[0m ×2 + 4.82sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 4.82sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 4.83sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 4.83sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 4.83sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 4.84sINFOamclParticle filter initialization completed + 4.84sINFOamclInitializing particles from estimated pose and covariance + 4.85sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 4.85sINFOamclThe bond connection to the lifecycle manager is now fully formed + 4.85sINFOlifecycle_manager_localizationServer amcl connected with bond. + 4.85sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 4.85sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 4.86sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 4.86sINFOplanner_serverConfiguring + 4.86sINFOglobal_costmap.global_costmapConfiguring + 4.87sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 4.88sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 4.88sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 4.88sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 4.90sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 4.97sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 4.97sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 4.97sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.01sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.01sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.01sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.02sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 5.02sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 5.02sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 5.02sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 5.02sINFOplanner_serverPlanner Server has GridBased planners available. + 5.04sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.05sINFObehavior_serverConfiguring + 5.06sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.06sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.07sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.07sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.07sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 5.08sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 5.08sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.08sINFObehavior_serverConfiguring spin + 5.10sINFObehavior_serverConfiguring backup + 5.11sINFObehavior_serverConfiguring drive_on_heading + 5.11sINFObehavior_serverConfiguring assisted_teleop + 5.13sINFObehavior_serverConfiguring wait + 5.13sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.14sINFObt_navigatorConfiguring + 5.15sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 5.15sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.15sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.15sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.16sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.17sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993159 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993159 ms (missed cycles : 2).[0m ×2 + 5.35sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 5.42sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 5.42sINFOwaypoint_followerConfiguring + 5.43sINFOwaypoint_manager_nodeLoaded robot model in 0.277264 seconds[0m ×2 + 5.43sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 5.43sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.46sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 5.47sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 5.47sINFOvelocity_smootherConfiguring velocity smoother + 5.48sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 5.48sINFOcontroller_serverActivating + 5.48sINFOlocal_costmap.local_costmapActivating + 5.48sINFOlocal_costmap.local_costmapChecking transform + 5.48sINFOlocal_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 ×2 + 5.52sINFOmove_group[2026-10-09 19:19:01.852] [moveit_pro_license] [info] ×2 + 5.52sINFOmove_group************************************************* ×4 + 5.52sINFOmove_group* MoveIt Pro License ×2 + 5.52sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.72sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.72sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.77sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 5.77sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 5.77sINFOros2_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 + 5.77sWARNros2_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 + 5.77sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.77sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 5.77sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 5.77sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 5.77sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 5.77sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 5.77sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 5.77sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 5.77sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 5.77sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 5.77sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 5.77sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 5.77sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.77sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.77sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.77sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 5.77sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.77sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.77sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 5.77sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 5.77sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 5.77sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.77sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.77sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 5.77sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 5.77sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.77sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.77sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.77sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.77sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.77sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.77sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.77sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 5.81sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 5.81sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 5.81sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 5.81sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 5.81sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 5.82sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 5.82sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 5.82sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 5.82sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 5.82sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 5.82sINFOmove_groupStarting planning scene monitor[0m ×2 + 5.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 5.82sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 5.82sINFOmove_groupListening to '/planning_scene'[0m ×2 + 5.82sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 5.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 5.82sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 5.82sINFOmove_groupListening to 'collision_object'[0m ×2 + 5.82sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 5.82sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 5.82sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 5.83sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 5.83sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 5.83sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 5.83sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 5.85sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 5.85sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 5.87sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 5.87sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 5.88sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 5.88sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 5.88sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 5.88sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 5.88sINFOcontroller_managerSuccessfully switched controllers! ×22 + 5.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 5.88sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 5.88sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 5.91sINFOwaypoint_manager_node[2026-10-09 19:19:02.241] [moveit_pro_license] [info] ×2 + 5.91sINFOwaypoint_manager_node************************************************* ×4 + 5.91sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 5.91sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.99sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 5.99sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 6.03sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 6.03sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 6.22sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 6.22sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.22sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 6.22sINFOcontroller_managerLoading controller 'vacuum_gripper' + 6.22sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 6.22sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 6.23sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 6.23sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 6.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 6.26sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.26sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.27sINFOros2-15process has finished cleanly [pid 7895] ×2 + 6.29sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 6.30sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 6.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 6.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 6.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 6.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 6.30sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675700 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675700 ms (missed cycles : 5).[0m ×2 + 6.32sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 6.32sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 6.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 6.34sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 6.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 6.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 6.38sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 6.38sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 6.38sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 6.38sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 6.38sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 6.38sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 6.38sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 6.39sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 6.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 6.39sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 6.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 6.39sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 6.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 6.39sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 6.40sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 6.40sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 6.40sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 6.40sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 6.40sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 6.40sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 6.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 6.40sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 6.41sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 6.41sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 6.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 6.48sINFOlocal_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 + 6.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 6.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 6.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 6.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 6.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 6.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 6.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 6.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 6.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 6.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 6.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 6.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 6.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 6.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 6.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 6.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 6.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 6.59sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 6.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 6.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 6.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 6.60sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 6.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 6.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 6.61sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 6.61sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 6.61sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 6.61sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 6.63sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 6.63sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 6.63sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 6.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 6.63sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 6.63sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 6.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 6.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 6.64sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 6.64sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 6.64sINFOobjective_server_node[2026-10-09 19:19:02.967] [moveit_pro_license] [info] ×2 + 6.64sINFOobjective_server_node************************************************* ×4 + 6.64sINFOobjective_server_node* MoveIt Pro License ×2 + 6.64sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.67sINFOros2-18process has finished cleanly [pid 7898] ×2 + 6.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.71sINFOobjective_server_nodeLoaded robot model in 0.0298588 seconds[0m ×2 + 6.71sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 6.71sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.73sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 6.73sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 6.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 6.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 6.74sINFOplatform_velocity_controllerconfigure successful + 6.74sINFOros2_control_nodeconfigure successful[0m ×6 + 6.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 6.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 6.75sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 6.75sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 6.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 6.82sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 6.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 6.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 6.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 6.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 6.87sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 6.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 6.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 6.89sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 6.97sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.97sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.97sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.97sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.97sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNobjective_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 + 7.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.04sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.04sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 7.04sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 7.06sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 7.06sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 7.08sINFOros2-17process has finished cleanly [pid 7897] ×2 + 7.09sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 7.12sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.12sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.23sINFOplatform_velocity_controller_nav2configure successful + 7.31sINFOcomponent_container_mtLoaded robot model in 0.42888 seconds[0m ×2 + 7.31sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 7.31sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.35sINFOmove_groupMoveGroup debug mode is ON + 7.35sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 7.35sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 7.39sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 7.39sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.39sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 7.39sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 7.40sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 7.40sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 7.40sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 7.40sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 7.42sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 7.42sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 7.42sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 7.42sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 7.44sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696576 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696576 ms (missed cycles : 2).[0m ×2 + 7.50sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 7.51sINFOmove_group ×8 + 7.51sINFOmove_group****************************************************** ×4 + 7.51sINFOmove_group* MoveGroup using: ×2 + 7.51sINFOmove_group* - apply_planning_scene_service ×2 + 7.51sINFOmove_group* - clear_octomap_service ×2 + 7.51sINFOmove_group* - get_group_urdf ×2 + 7.51sINFOmove_group* - load_geometry_from_file ×2 + 7.51sINFOmove_group* - get_planning_scene_service ×2 + 7.51sINFOmove_group* - kinematics_service ×2 + 7.51sINFOmove_group* - save_geometry_to_file ×2 + 7.51sINFOmove_group* - GetPlanningGroups ×2 + 7.51sINFOmove_group* - URDFPlanningSceneCapability ×2 + 7.51sINFOmove_group[0m ×2 + 7.51sINFOmove_group[92mYou can start planning now![0m ×2 + 7.54sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 7.54sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 7.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.61sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.61sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.61sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.61sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.63sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.63sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.63sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.63sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.66sINFOros2-19process has finished cleanly [pid 7899] ×2 + 7.73sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 7.73sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 7.79sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.79sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.80sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.80sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.82sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.97sINFOcomponent_container_mt[2026-10-09 19:19:04.297] [moveit_pro_license] [info] ×2 + 7.97sINFOcomponent_container_mt************************************************* ×4 + 7.97sINFOcomponent_container_mt* MoveIt Pro License ×2 + 7.97sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.04sINFOros2_control_node[2026-10-09 19:19:04.365] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.04sINFOros2_control_node[2026-10-09 19:19:04.367] [info] Controller state will be published at 10 Hz. ×2 + 8.04sINFOros2_control_node[2026-10-09 19:19:04.368] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.29sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 8.29sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 8.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 8.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 8.35sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.36sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 8.36sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 8.40sINFOros2-21process has finished cleanly [pid 7905] ×2 + 8.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.41sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.42sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791573543.067 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 8.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.43sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.43sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986349 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986349 ms (missed cycles : 3).[0m ×2 + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 8.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 8.48sINFOlocal_costmap.local_costmapstart + 8.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 8.59sWARNcontroller_serverParameter controller_server.verbose not found + 8.59sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 8.70sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 8.70sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 8.70sINFOsmoother_serverActivating + 8.70sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 8.72sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.72sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.72sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 8.72sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.72sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.72sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 8.77sINFOros2-16process has finished cleanly [pid 7896] ×2 + 8.78sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.78sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.78sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.78sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.80sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 8.80sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 8.80sINFOplanner_serverActivating + 8.80sINFOglobal_costmap.global_costmapActivating + 8.80sINFOglobal_costmap.global_costmapChecking transform + 8.80sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 8.91sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791573544.662 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 8.94sINFOamclParticle filter update iteration stats: 1777 particles 811 points - 20.183ms + 9.06sINFOros2_control_node[2026-10-09 19:19:05.383] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.06sINFOros2_control_node[2026-10-09 19:19:05.387] [info] Controller state will be published at 10 Hz. ×2 + 9.06sINFOros2_control_node[2026-10-09 19:19:05.388] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.30sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1791573545.617580 but the earliest data is at time 1791573545.947466, when looking up transform from frame [ridgeback_base_link] to frame [map] + 9.38sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.38sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.38sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.38sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.38sINFOros2-22process has finished cleanly [pid 7906] ×2 + 9.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 9.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733635 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733635 ms (missed cycles : 2).[0m ×2 + 9.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.76sINFOros2_control_node[2026-10-09 19:19:06.088] [info] Controller state will be published at 20 Hz. ×2 + 9.76sINFOros2_control_node[2026-10-09 19:19:06.089] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.80sINFOglobal_costmap.global_costmapstart + 9.90sWARNobjective_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 + 10.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 10.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 10.11sINFOros2-23process has finished cleanly [pid 7907] ×2 + 10.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.20sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.20sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.20sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.20sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.21sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.21sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.21sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.50sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.50sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.50sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.51sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 10.51sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.51sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432980 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432980 ms (missed cycles : 3).[0m ×2 + 10.54sINFOros2-20process has finished cleanly [pid 7904] ×2 + 10.57sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.57sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.57sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.58sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.81sINFOros2_control_node[2026-10-09 19:19:07.142] [info] Controller state will be published at 20 Hz. ×2 + 10.82sINFOros2_control_node[2026-10-09 19:19:07.143] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.85sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 10.86sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 10.96sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 10.96sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 10.96sINFObehavior_serverActivating + 10.96sINFObehavior_serverActivating spin + 10.96sINFObehavior_serverActivating backup + 10.96sINFObehavior_serverActivating drive_on_heading + 10.96sINFObehavior_serverActivating assisted_teleop + 10.96sINFObehavior_serverActivating wait + 10.96sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.07sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.07sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.07sINFObt_navigatorActivating + 11.15sINFOros2-24process has finished cleanly [pid 7908] ×2 + 11.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.19sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.19sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot + 11.19sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6i42f2wd --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_9jadx0b4 --params-file /tmp/launch_params_3_7myvot [0m ×2 + 11.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.25sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.25sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.25sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.26sINFOforce_torque_sensor_broadcasterconfigure successful + 11.26sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.26sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.26sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.26sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.29sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.29sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.29sINFOwaypoint_followerActivating + 11.29sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.40sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.40sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.40sINFOvelocity_smootherActivating + 11.40sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 11.50sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 11.50sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 11.50sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 11.56sINFOros2-14process has finished cleanly [pid 7894] ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901989 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901989 ms (missed cycles : 2).[0m ×2 + 12.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488099 ms (missed cycles : 3). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488099 ms (missed cycles : 3).[0m ×2 + 12.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 12.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 12.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 12.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 12.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 12.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 12.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 12.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 12.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 12.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 12.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 12.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552845 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552845 ms (missed cycles : 2).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769601 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769601 ms (missed cycles : 2).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 15.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 18.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.35sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.35sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.35sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.35sINFOobjective_server_nodecaller: ×10 + 18.35sINFOobjective_server_nodetype: 0 ×10 + 18.35sINFOobjective_server_nodename: "" ×10 + 18.35sINFOobjective_server_nodeinstance_id: "" ×10 + 18.35sINFOobjective_server_node ×10 + 18.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 18.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 18.39sINFOmove_groupClearing octomap...[0m ×4 + 18.39sINFOmove_groupOctomap cleared.[0m ×4 + 18.39sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 18.39sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 18.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 18.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 18.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 19.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 20.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 20.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 20.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	21 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769601 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 2.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.56sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.64sINFOobjective_server_nodecaller: ×10 + 3.64sINFOobjective_server_nodetype: 0 ×10 + 3.64sINFOobjective_server_nodename: "" ×10 + 3.64sINFOobjective_server_nodeinstance_id: "" ×10 + 3.64sINFOobjective_server_node ×10 + 3.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.67sINFOmove_groupClearing octomap...[0m ×4 + 3.67sINFOmove_groupOctomap cleared.[0m ×4 + 3.67sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.67sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_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 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	63.7s	3 errors · 206 warnings · 281 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714186 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714186 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.272ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.811ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682713 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682713 ms (missed cycles : 3).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.717ms + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.884ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045321 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045321 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.125ms + 2.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOjoint_trajectory_controllerGot request to cancel goal + 2.49sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.49sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.54sERRORobjective_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: 1791573759.46931648 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.57sINFOstate_estimatorReceived a set_pose request (stamp: 1791573759490249538, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-0.74, 3.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-1.64, 3.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.87sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.238ms + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.08sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.08sINFOobjective_server_nodecaller: ×4 + 3.08sINFOobjective_server_nodetype: 0 ×4 + 3.08sINFOobjective_server_nodename: "" ×4 + 3.08sINFOobjective_server_nodeinstance_id: "" ×4 + 3.08sINFOobjective_server_node ×4 + 3.13sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791573760.05411768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742578 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742578 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745734 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745734 ms (missed cycles : 2).[0m ×2 + 4.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.71sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 4.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.85sINFOjoint_trajectory_controllerReceived new action goal ×5 + 4.85sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 4.85sINFOros2_control_nodeReceived new action goal[0m ×10 + 4.85sINFOros2_control_nodeAccepted new action goal[0m ×10 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.844ms + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705743 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705743 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753974 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753974 ms (missed cycles : 2).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.013ms + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083866 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083866 ms (missed cycles : 2).[0m ×2 + 7.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.024ms + 8.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.385ms + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353295 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353295 ms (missed cycles : 2).[0m ×2 + 8.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.011ms ×2 + 9.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.902ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543647 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543647 ms (missed cycles : 3).[0m ×2 + 10.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.900ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806067 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806067 ms (missed cycles : 3).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.848ms + 11.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.975ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938947 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938947 ms (missed cycles : 2).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.265ms + 12.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.004ms + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018375 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018375 ms (missed cycles : 2).[0m ×2 + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.146ms + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.061ms + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696047 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696047 ms (missed cycles : 3).[0m ×2 + 14.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.996ms + 15.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.644ms + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307272 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307272 ms (missed cycles : 2).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.207ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.088ms + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119043 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119043 ms (missed cycles : 3).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.744ms + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.308ms + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195903 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195903 ms (missed cycles : 2).[0m ×2 + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.822ms + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249138 ms (missed cycles : 2). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249138 ms (missed cycles : 2).[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.022ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.049ms + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708167 ms (missed cycles : 2). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708167 ms (missed cycles : 2).[0m ×2 + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.674ms + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.476ms + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780177 ms (missed cycles : 3). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780177 ms (missed cycles : 3).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.977ms + 21.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.169ms + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388082 ms (missed cycles : 3). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388082 ms (missed cycles : 3).[0m ×2 + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.151ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.635ms + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869490 ms (missed cycles : 2). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869490 ms (missed cycles : 2).[0m ×2 + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.588ms + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954446 ms (missed cycles : 2). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954446 ms (missed cycles : 2).[0m ×2 + 23.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.968ms + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.259ms + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497139 ms (missed cycles : 2). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497139 ms (missed cycles : 2).[0m ×2 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.556ms + 25.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.432ms ×2 + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541216 ms (missed cycles : 3). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541216 ms (missed cycles : 3).[0m ×2 + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.723ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.986ms + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492820 ms (missed cycles : 2). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492820 ms (missed cycles : 2).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.873ms + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760603 ms (missed cycles : 2). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760603 ms (missed cycles : 2).[0m ×2 + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.106ms + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.602ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678843 ms (missed cycles : 2). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678843 ms (missed cycles : 2).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.010ms + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.305ms + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220022 ms (missed cycles : 2). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220022 ms (missed cycles : 2).[0m ×2 + 30.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.052ms + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.351ms + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047983 ms (missed cycles : 4). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047983 ms (missed cycles : 4).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.173ms + 31.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.670ms + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584413 ms (missed cycles : 3). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584413 ms (missed cycles : 3).[0m ×2 + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.401ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872443 ms (missed cycles : 2). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872443 ms (missed cycles : 2).[0m ×2 + 33.22sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.22sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.68sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096448 ms (missed cycles : 2). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096448 ms (missed cycles : 2).[0m ×2 + 34.56sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323140 ms (missed cycles : 3). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323140 ms (missed cycles : 3).[0m ×2 + 35.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017310 ms (missed cycles : 2). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017310 ms (missed cycles : 2).[0m ×2 + 36.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.111ms + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604690 ms (missed cycles : 3). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604690 ms (missed cycles : 3).[0m ×2 + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.056ms + 37.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.301ms + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674404 ms (missed cycles : 3). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674404 ms (missed cycles : 3).[0m ×2 + 38.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.592ms + 39.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.117ms + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999885 ms (missed cycles : 2). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999885 ms (missed cycles : 2).[0m ×2 + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.768ms + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762149 ms (missed cycles : 2). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762149 ms (missed cycles : 2).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966169 ms (missed cycles : 2). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966169 ms (missed cycles : 2).[0m ×2 + 42.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.838ms + 42.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934017 ms (missed cycles : 2). + 42.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934017 ms (missed cycles : 2).[0m ×2 + 43.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.596ms + 43.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998634 ms (missed cycles : 3). + 43.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998634 ms (missed cycles : 3).[0m ×2 + 44.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.908ms + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993339 ms (missed cycles : 2). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993339 ms (missed cycles : 2).[0m ×2 + 45.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.178ms + 45.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.333ms + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033980 ms (missed cycles : 2). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033980 ms (missed cycles : 2).[0m ×2 + 46.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.342ms + 46.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.610ms + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754389 ms (missed cycles : 3). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754389 ms (missed cycles : 3).[0m ×2 + 47.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.615ms + 48.13sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867214 ms (missed cycles : 2). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867214 ms (missed cycles : 2).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.522ms + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941018 ms (missed cycles : 2). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941018 ms (missed cycles : 2).[0m ×2 + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717516 ms (missed cycles : 3). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717516 ms (missed cycles : 3).[0m ×2 + 51.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410365 ms (missed cycles : 2). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410365 ms (missed cycles : 2).[0m ×2 + 52.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.101ms + 52.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749808 ms (missed cycles : 2). + 52.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749808 ms (missed cycles : 2).[0m ×2 + 52.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.251ms + 52.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.056ms + 53.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463084 ms (missed cycles : 2). + 53.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463084 ms (missed cycles : 2).[0m ×2 + 53.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.811ms + 54.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.605ms + 54.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528152 ms (missed cycles : 2). + 54.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528152 ms (missed cycles : 2).[0m ×2 + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557661 ms (missed cycles : 3). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557661 ms (missed cycles : 3).[0m ×2 + 55.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.884ms + 56.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845694 ms (missed cycles : 2). + 56.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845694 ms (missed cycles : 2).[0m ×2 + 56.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.585ms + 57.20sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 57.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813165 ms (missed cycles : 3). + 57.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813165 ms (missed cycles : 3).[0m ×2 + 58.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460055 ms (missed cycles : 3). + 58.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460055 ms (missed cycles : 3).[0m ×2 + 59.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285492 ms (missed cycles : 2). + 59.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285492 ms (missed cycles : 2).[0m ×2 + 60.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514427 ms (missed cycles : 2). + 60.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514427 ms (missed cycles : 2).[0m ×2 + 60.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.579ms + 61.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930493 ms (missed cycles : 3). + 61.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930493 ms (missed cycles : 3).[0m ×2 + 62.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.752ms + 62.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939476 ms (missed cycles : 2). + 62.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939476 ms (missed cycles : 2).[0m ×2 + 63.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.606ms + 63.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816056 ms (missed cycles : 2). + 63.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816056 ms (missed cycles : 2).[0m ×2 + 63.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.197ms + 64.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.199ms + 64.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.439ms + 64.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054493 ms (missed cycles : 3). + 64.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054493 ms (missed cycles : 3).[0m ×2 + 64.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.132ms + 65.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.976ms + 65.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256295 ms (missed cycles : 2). + 65.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256295 ms (missed cycles : 2).[0m ×2 + 66.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791573823.20431113 seconds ×3 + 66.30sINFOstate_estimatorReceived a set_pose request (stamp: 1791573823221635364, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 66.38sWARNlocal_costmap.local_costmapSensor origin at (-2.68, 13.54) is out of map bounds (-2.65, -2.25) to (2.33, 2.73). The costmap cannot raytrace for it. + 66.38sWARNlocal_costmap.local_costmapSensor origin at (-3.56, 13.36) is out of map bounds (-2.65, -2.25) to (2.33, 2.73). The costmap cannot raytrace for it. + 66.48sWARNlocal_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. ×2 + 66.48sWARNlocal_costmap.local_costmapSensor origin at (-3.56, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 66.64sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.398ms + 66.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 66.81sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 66.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791573823.77048278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 66.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288537 ms (missed cycles : 2). + 66.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288537 ms (missed cycles : 2).[0m ×2 + 67.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724838 ms (missed cycles : 2). + 67.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724838 ms (missed cycles : 2).[0m ×2 + 68.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg) + 68.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg)[0m ×2 + 68.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0547689, y=-0.0155617, yaw=-0.0112459 + 68.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.457ms + 69.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449512 ms (missed cycles : 2). + 69.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449512 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.1s	179 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.26sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.956ms + 7.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.606ms + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459963 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459963 ms (missed cycles : 2).[0m ×2 + 7.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.848ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217849 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217849 ms (missed cycles : 2).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.473ms + 9.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.497ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966615 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966615 ms (missed cycles : 2).[0m ×2 + 9.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.811ms + 10.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.972ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751429 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751429 ms (missed cycles : 3).[0m ×2 + 10.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.805ms + 11.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.930ms + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748982 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748982 ms (missed cycles : 3).[0m ×2 + 11.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.485ms + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.997ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097796 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097796 ms (missed cycles : 2).[0m ×2 + 12.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.539ms + 13.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.298ms + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612811 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612811 ms (missed cycles : 2).[0m ×2 + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.917ms + 14.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.384ms + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641066 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641066 ms (missed cycles : 2).[0m ×2 + 15.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.757ms + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.193ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162412 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162412 ms (missed cycles : 3).[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.944ms + 16.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.716ms + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313392 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313392 ms (missed cycles : 2).[0m ×2 + 17.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.007ms + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712734 ms (missed cycles : 2). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712734 ms (missed cycles : 2).[0m ×2 + 18.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.160ms + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.902ms + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616699 ms (missed cycles : 3). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616699 ms (missed cycles : 3).[0m ×2 + 19.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.787ms + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.842ms + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410408 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410408 ms (missed cycles : 2).[0m ×2 + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.100ms + 21.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.006ms + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674282 ms (missed cycles : 3). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674282 ms (missed cycles : 3).[0m ×2 + 21.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.866ms + 22.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.730ms + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630642 ms (missed cycles : 2). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630642 ms (missed cycles : 2).[0m ×2 + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.166ms + 23.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.214ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866260 ms (missed cycles : 2). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866260 ms (missed cycles : 2).[0m ×2 + 23.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.102ms + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.906ms + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933366 ms (missed cycles : 2). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933366 ms (missed cycles : 2).[0m ×2 + 24.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.815ms + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178989 ms (missed cycles : 2). + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178989 ms (missed cycles : 2).[0m ×2 + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.608ms + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.799ms + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985357 ms (missed cycles : 3). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985357 ms (missed cycles : 3).[0m ×2 + 26.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.506ms ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.517ms + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684413 ms (missed cycles : 2). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684413 ms (missed cycles : 2).[0m ×2 + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.872ms + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.050ms + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278732 ms (missed cycles : 2). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278732 ms (missed cycles : 2).[0m ×2 + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.065ms + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891011 ms (missed cycles : 3). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891011 ms (missed cycles : 3).[0m ×2 + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.947ms + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.954ms + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924710 ms (missed cycles : 2). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924710 ms (missed cycles : 2).[0m ×2 + 31.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.265ms + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334256 ms (missed cycles : 2). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334256 ms (missed cycles : 2).[0m ×2 + 32.90sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822701 ms (missed cycles : 3). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822701 ms (missed cycles : 3).[0m ×2 + 34.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.461ms + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625558 ms (missed cycles : 2). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625558 ms (missed cycles : 2).[0m ×2 + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272669 ms (missed cycles : 2). + 35.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272669 ms (missed cycles : 2).[0m ×2 + 36.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339782 ms (missed cycles : 3). + 36.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339782 ms (missed cycles : 3).[0m ×2 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110039 ms (missed cycles : 2). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110039 ms (missed cycles : 2).[0m ×2 + 38.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.770ms + 38.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005794 ms (missed cycles : 2). + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005794 ms (missed cycles : 2).[0m ×2 + 39.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.068ms + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410406 ms (missed cycles : 3). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410406 ms (missed cycles : 3).[0m ×2 + 40.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.722ms + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425775 ms (missed cycles : 2). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425775 ms (missed cycles : 2).[0m ×2 + 41.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749323 ms (missed cycles : 2). + 41.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749323 ms (missed cycles : 2).[0m ×2 + 42.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.834ms + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859849 ms (missed cycles : 3). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859849 ms (missed cycles : 3).[0m ×2 + 42.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.892ms + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936332 ms (missed cycles : 2). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936332 ms (missed cycles : 2).[0m ×2 + 44.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864530 ms (missed cycles : 2). + 44.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864530 ms (missed cycles : 2).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531518 ms (missed cycles : 3). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531518 ms (missed cycles : 3).[0m ×2 + 46.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.392ms + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682668 ms (missed cycles : 2). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682668 ms (missed cycles : 2).[0m ×2 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190157 ms (missed cycles : 2). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190157 ms (missed cycles : 2).[0m ×2 + 49.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687737 ms (missed cycles : 2). + 49.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687737 ms (missed cycles : 2).[0m ×2 + 49.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.480ms + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794797 ms (missed cycles : 2). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794797 ms (missed cycles : 2).[0m ×2 + 51.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814986 ms (missed cycles : 2). + 51.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814986 ms (missed cycles : 2).[0m ×2 + 52.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632168 ms (missed cycles : 3). + 52.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632168 ms (missed cycles : 3).[0m ×2 + 53.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.058ms + 53.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704527 ms (missed cycles : 2). + 53.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704527 ms (missed cycles : 2).[0m ×2 + 54.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492547 ms (missed cycles : 2). + 54.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492547 ms (missed cycles : 2).[0m ×2 + 55.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418917 ms (missed cycles : 3). + 55.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418917 ms (missed cycles : 3).[0m ×2 + 56.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187104 ms (missed cycles : 2). + 56.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187104 ms (missed cycles : 2).[0m ×2 + 57.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827109 ms (missed cycles : 3). + 57.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827109 ms (missed cycles : 3).[0m ×2 + 57.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.570ms + 58.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791573885.69505978 seconds ×3 + 58.49sINFOstate_estimatorReceived a set_pose request (stamp: 1791573885708558966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 58.67sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.67sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727449 ms (missed cycles : 2). + 58.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727449 ms (missed cycles : 2).[0m ×2 + 58.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.713ms + 58.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 58.99sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 59.04sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791573886.27512383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.35sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 59.54sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 59.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173108 ms (missed cycles : 2). + 59.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173108 ms (missed cycles : 2).[0m ×2 + 60.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 60.60sINFOamclInitializing particles from estimated pose and covariance + 60.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 60.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0540046, y=-0.0162823, yaw=-0.0163428 + 60.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.459ms + 60.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082372 ms (missed cycles : 2). + 60.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082372 ms (missed cycles : 2).[0m ×2 + 61.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430420 ms (missed cycles : 3). + 61.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430420 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.1s	183 warnings · 239 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.769ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.210ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.197ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.766ms + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.748ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125786 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125786 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.592ms + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.942ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.102ms + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.185ms + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.140ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276464 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276464 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.317ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791573605.85540819 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1791573605871808403, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.760ms + 3.36sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 4.071ms + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320602 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320602 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791573606.43367434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687377 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687377 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.17sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 5.19sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.19sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.072ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480040 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480040 ms (missed cycles : 3).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428677 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428677 ms (missed cycles : 3).[0m ×2 + 7.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.842ms + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866277 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866277 ms (missed cycles : 2).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.156ms + 8.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.913ms + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093187 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093187 ms (missed cycles : 2).[0m ×2 + 8.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.007ms + 9.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.939ms + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064882 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064882 ms (missed cycles : 2).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.003ms + 10.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.991ms + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028990 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028990 ms (missed cycles : 2).[0m ×2 + 11.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.386ms + 11.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.890ms + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361233 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361233 ms (missed cycles : 2).[0m ×2 + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.733ms + 12.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.235ms + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128373 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128373 ms (missed cycles : 2).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.963ms ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631029 ms (missed cycles : 2). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631029 ms (missed cycles : 2).[0m ×2 + 14.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.541ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.602ms + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731114 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731114 ms (missed cycles : 2).[0m ×2 + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.108ms + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223547 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223547 ms (missed cycles : 2).[0m ×2 + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.847ms + 17.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.403ms + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890197 ms (missed cycles : 3).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.558ms + 18.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.875ms + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198913 ms (missed cycles : 2). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198913 ms (missed cycles : 2).[0m ×2 + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.625ms + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.304ms + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124011 ms (missed cycles : 2). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124011 ms (missed cycles : 2).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.799ms + 20.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.075ms ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363869 ms (missed cycles : 3). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363869 ms (missed cycles : 3).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.939ms + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166977 ms (missed cycles : 2). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166977 ms (missed cycles : 2).[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.943ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.354ms + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621400 ms (missed cycles : 2). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621400 ms (missed cycles : 2).[0m ×2 + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.327ms + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456083 ms (missed cycles : 2). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456083 ms (missed cycles : 2).[0m ×2 + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.530ms + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752013 ms (missed cycles : 2). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752013 ms (missed cycles : 2).[0m ×2 + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.597ms + 25.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.709ms + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338367 ms (missed cycles : 3). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338367 ms (missed cycles : 3).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.232ms + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.822ms + 27.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250177 ms (missed cycles : 2). + 27.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250177 ms (missed cycles : 2).[0m ×2 + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.832ms ×2 + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456968 ms (missed cycles : 2). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456968 ms (missed cycles : 2).[0m ×2 + 28.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.035ms + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.496ms + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730940 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730940 ms (missed cycles : 2).[0m ×2 + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.758ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.231ms + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543789 ms (missed cycles : 3). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543789 ms (missed cycles : 3).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.680ms + 31.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.026ms + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790508 ms (missed cycles : 3). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790508 ms (missed cycles : 3).[0m ×2 + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.883ms + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156357 ms (missed cycles : 2). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156357 ms (missed cycles : 2).[0m ×2 + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.357ms + 33.60sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621091 ms (missed cycles : 3). + 33.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621091 ms (missed cycles : 3).[0m ×2 + 34.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400473 ms (missed cycles : 3). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400473 ms (missed cycles : 3).[0m ×2 + 35.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.265ms + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674474 ms (missed cycles : 3). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674474 ms (missed cycles : 3).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087044 ms (missed cycles : 2). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087044 ms (missed cycles : 2).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174691 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174691 ms (missed cycles : 2).[0m ×2 + 37.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.035ms + 38.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464229 ms (missed cycles : 2). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464229 ms (missed cycles : 2).[0m ×2 + 39.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.971ms + 40.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368388 ms (missed cycles : 2). + 40.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368388 ms (missed cycles : 2).[0m ×2 + 40.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.114ms + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548043 ms (missed cycles : 2). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548043 ms (missed cycles : 2).[0m ×2 + 42.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939477 ms (missed cycles : 2). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939477 ms (missed cycles : 2).[0m ×2 + 43.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142068 ms (missed cycles : 2). + 43.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142068 ms (missed cycles : 2).[0m ×2 + 43.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.106ms + 44.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736913 ms (missed cycles : 3). + 44.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736913 ms (missed cycles : 3).[0m ×2 + 44.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.876ms + 45.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329572 ms (missed cycles : 2). + 45.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329572 ms (missed cycles : 2).[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544820 ms (missed cycles : 2). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544820 ms (missed cycles : 2).[0m ×2 + 46.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.538ms + 47.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550197 ms (missed cycles : 2). + 47.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550197 ms (missed cycles : 2).[0m ×2 + 47.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.072ms + 48.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867625 ms (missed cycles : 3). + 48.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867625 ms (missed cycles : 3).[0m ×2 + 49.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667589 ms (missed cycles : 3). + 49.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667589 ms (missed cycles : 3).[0m ×2 + 49.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.202ms + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563944 ms (missed cycles : 3). + 50.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563944 ms (missed cycles : 3).[0m ×2 + 50.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.887ms + 51.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793762 ms (missed cycles : 2). + 51.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793762 ms (missed cycles : 2).[0m ×2 + 52.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425865 ms (missed cycles : 3). + 52.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425865 ms (missed cycles : 3).[0m ×2 + 53.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070640 ms (missed cycles : 2). + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070640 ms (missed cycles : 2).[0m ×2 + 53.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.165ms + 55.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651281 ms (missed cycles : 2). + 55.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651281 ms (missed cycles : 2).[0m ×2 + 56.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2). + 56.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2).[0m ×2 + 56.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.189ms + 57.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3). + 57.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3).[0m ×2 + 57.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.374ms + 58.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2). + 58.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2).[0m ×2 + 58.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 59.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573661.99384022 seconds ×3 + 59.18sINFOstate_estimatorReceived a set_pose request (stamp: 1791573662011919419, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 59.37sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.37sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2). + 59.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2).[0m ×2 + 59.47sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.47sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.64sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.465ms + 59.64sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171784, yaw=-0.0183985 + 59.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.69sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 59.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573662.57064962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.897ms + 60.03sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 60.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 60.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3). + 60.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3).[0m ×2 + 61.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2). + 61.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2).[0m ×2 + 62.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2). + 62.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	48.9s	172 warnings · 243 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.899ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259745 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259745 ms (missed cycles : 2).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.533ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191319 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191319 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.865ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.663ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086033 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086033 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.74sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.77sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791573699.68861389 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOstate_estimatorReceived a set_pose request (stamp: 1791573699705410556, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.13) is out of map bounds (-5.35, 6.50) to (-0.37, 11.48). The costmap cannot raytrace for it. + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.16) is out of map bounds (-5.35, 6.50) to (-0.37, 11.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.393ms + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.17sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570136, y=-0.017177, yaw=-0.0183973 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404334 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404334 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791573700.26222610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 14.202ms + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675493 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675493 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 4.94sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.94sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.94sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925142 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925142 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280879 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280879 ms (missed cycles : 2).[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.925ms + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703428 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703428 ms (missed cycles : 2).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.095ms + 8.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.933ms + 8.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.099ms + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058103 ms (missed cycles : 2). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058103 ms (missed cycles : 2).[0m ×2 + 9.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.961ms + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879349 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879349 ms (missed cycles : 2).[0m ×2 + 9.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.824ms + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.859ms + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457391 ms (missed cycles : 3). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457391 ms (missed cycles : 3).[0m ×2 + 10.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.034ms + 11.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.638ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881245 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881245 ms (missed cycles : 2).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.978ms + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.021ms + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701141 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701141 ms (missed cycles : 2).[0m ×2 + 13.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.022ms + 13.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.035ms + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084010 ms (missed cycles : 2). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084010 ms (missed cycles : 2).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.934ms + 14.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.117ms + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375991 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375991 ms (missed cycles : 3).[0m ×2 + 15.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.005ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389977 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389977 ms (missed cycles : 3).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.885ms + 16.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.234ms + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858593 ms (missed cycles : 3). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858593 ms (missed cycles : 3).[0m ×2 + 17.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.699ms + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.180ms + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798691 ms (missed cycles : 3). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798691 ms (missed cycles : 3).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.237ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.680ms + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045616 ms (missed cycles : 2). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045616 ms (missed cycles : 2).[0m ×2 + 19.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.649ms + 20.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.966ms + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995775 ms (missed cycles : 3). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995775 ms (missed cycles : 3).[0m ×2 + 20.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.063ms + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.962ms + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788638 ms (missed cycles : 3). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788638 ms (missed cycles : 3).[0m ×2 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.164ms + 22.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.402ms + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855000 ms (missed cycles : 3). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855000 ms (missed cycles : 3).[0m ×2 + 23.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.976ms + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.299ms + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793864 ms (missed cycles : 2). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793864 ms (missed cycles : 2).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.477ms + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.497ms + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931062 ms (missed cycles : 2). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931062 ms (missed cycles : 2).[0m ×2 + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.754ms + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738645 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738645 ms (missed cycles : 2).[0m ×2 + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.861ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.742ms + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480306 ms (missed cycles : 3). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480306 ms (missed cycles : 3).[0m ×2 + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.625ms + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.779ms + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198907 ms (missed cycles : 2). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198907 ms (missed cycles : 2).[0m ×2 + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.814ms ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.934ms + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654226 ms (missed cycles : 2). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654226 ms (missed cycles : 2).[0m ×2 + 29.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.420ms + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054974 ms (missed cycles : 3). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054974 ms (missed cycles : 3).[0m ×2 + 29.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.055ms + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.540ms + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532581 ms (missed cycles : 2). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532581 ms (missed cycles : 2).[0m ×2 + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.392ms + 31.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.183ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432700 ms (missed cycles : 2). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432700 ms (missed cycles : 2).[0m ×2 + 32.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.876ms + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095384 ms (missed cycles : 2). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095384 ms (missed cycles : 2).[0m ×2 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284824 ms (missed cycles : 2). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284824 ms (missed cycles : 2).[0m ×2 + 34.74sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273633 ms (missed cycles : 2). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273633 ms (missed cycles : 2).[0m ×2 + 35.41sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525872 ms (missed cycles : 3). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525872 ms (missed cycles : 3).[0m ×2 + 36.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.957ms + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663382 ms (missed cycles : 3). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663382 ms (missed cycles : 3).[0m ×2 + 37.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.202ms + 38.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.706ms + 38.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060861 ms (missed cycles : 2). + 38.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060861 ms (missed cycles : 2).[0m ×2 + 38.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.105ms + 39.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.407ms + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301594 ms (missed cycles : 3). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301594 ms (missed cycles : 3).[0m ×2 + 40.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.590ms + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674558 ms (missed cycles : 2). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674558 ms (missed cycles : 2).[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.496ms + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745796 ms (missed cycles : 2). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745796 ms (missed cycles : 2).[0m ×2 + 42.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073320 ms (missed cycles : 2). + 42.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073320 ms (missed cycles : 2).[0m ×2 + 43.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.800ms + 43.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.814ms + 44.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143051 ms (missed cycles : 3). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143051 ms (missed cycles : 3).[0m ×2 + 44.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.270ms + 44.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.281ms + 44.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.482ms + 45.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.307ms + 45.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557375 ms (missed cycles : 2). + 45.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557375 ms (missed cycles : 2).[0m ×2 + 45.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.268ms + 45.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.057ms + 45.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.019ms + 46.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011181 ms (missed cycles : 2). + 46.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011181 ms (missed cycles : 2).[0m ×2 + 46.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.912ms + 47.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186695 ms (missed cycles : 2). + 47.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186695 ms (missed cycles : 2).[0m ×2 + 47.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.810ms + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986581 ms (missed cycles : 2). + 48.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986581 ms (missed cycles : 2).[0m ×2 + 49.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.608ms + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303295 ms (missed cycles : 2). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303295 ms (missed cycles : 2).[0m ×2 + 50.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.607ms + 50.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061749 ms (missed cycles : 2). + 50.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061749 ms (missed cycles : 2).[0m ×2 + 51.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.783ms + 51.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791573748.61237216 seconds ×3 + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861925 ms (missed cycles : 2). + 51.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861925 ms (missed cycles : 2).[0m ×2 + 51.73sINFOstate_estimatorReceived a set_pose request (stamp: 1791573748633498822, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 51.80sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.49) is out of map bounds (-3.80, 3.50) to (1.18, 8.48). The costmap cannot raytrace for it. + 51.80sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.02) is out of map bounds (-3.80, 3.50) to (1.18, 8.48). The costmap cannot raytrace for it. + 51.90sWARNlocal_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. + 51.90sWARNlocal_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. + 51.99sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 5.942ms + 52.00sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 5.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 52.00sWARNlocal_costmap.local_costmapSensor origin at (-1.76, 6.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 52.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 52.24sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 52.28sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.759ms + 52.28sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569096, y=-0.0171796, yaw=-0.0183998 + 52.28sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791573749.19874096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 52.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.847ms + 52.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 52.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065881 ms (missed cycles : 2). + 52.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065881 ms (missed cycles : 2).[0m ×2 + 53.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071747 ms (missed cycles : 2). + 53.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071747 ms (missed cycles : 2).[0m ×2 + 54.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135468 ms (missed cycles : 2). + 54.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135468 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.4s	135 warnings · 405 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 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 ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 1.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_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 + 2.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969381 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969381 ms (missed cycles : 2).[0m ×2 + 6.86sINFOamclParticle filter update iteration stats: 1022 particles 811 points - 5.687ms + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097355 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097355 ms (missed cycles : 2).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125489 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125489 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272096 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272096 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533543 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533543 ms (missed cycles : 3).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826260 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826260 ms (missed cycles : 2).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136633 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136633 ms (missed cycles : 2).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724845 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724845 ms (missed cycles : 2).[0m ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806229 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806229 ms (missed cycles : 3).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885924 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885924 ms (missed cycles : 3).[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589191 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589191 ms (missed cycles : 3).[0m ×2 + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288423 ms (missed cycles : 2). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288423 ms (missed cycles : 2).[0m ×2 + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730502 ms (missed cycles : 2). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730502 ms (missed cycles : 2).[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148786 ms (missed cycles : 2). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148786 ms (missed cycles : 2).[0m ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410439 ms (missed cycles : 3). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410439 ms (missed cycles : 3).[0m ×2 + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820144 ms (missed cycles : 2). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820144 ms (missed cycles : 2).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.130ms + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039771 ms (missed cycles : 2). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039771 ms (missed cycles : 2).[0m ×2 + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671310 ms (missed cycles : 2). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671310 ms (missed cycles : 2).[0m ×2 + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729189 ms (missed cycles : 3). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729189 ms (missed cycles : 3).[0m ×2 + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767336 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767336 ms (missed cycles : 2).[0m ×2 + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817543 ms (missed cycles : 2). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817543 ms (missed cycles : 2).[0m ×2 + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546871 ms (missed cycles : 3). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546871 ms (missed cycles : 3).[0m ×2 + 30.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292184 ms (missed cycles : 2). + 30.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292184 ms (missed cycles : 2).[0m ×2 + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510102 ms (missed cycles : 3). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510102 ms (missed cycles : 3).[0m ×2 + 32.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368724 ms (missed cycles : 3). + 32.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368724 ms (missed cycles : 3).[0m ×2 + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393579 ms (missed cycles : 3). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393579 ms (missed cycles : 3).[0m ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754337 ms (missed cycles : 2). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754337 ms (missed cycles : 2).[0m ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573713 ms (missed cycles : 2). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573713 ms (missed cycles : 2).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284950 ms (missed cycles : 2). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284950 ms (missed cycles : 2).[0m ×2 + 37.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.667ms + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840572 ms (missed cycles : 2). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840572 ms (missed cycles : 2).[0m ×2 + 38.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844729 ms (missed cycles : 2). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844729 ms (missed cycles : 2).[0m ×2 + 40.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682086 ms (missed cycles : 2). + 40.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682086 ms (missed cycles : 2).[0m ×2 + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740521 ms (missed cycles : 2). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740521 ms (missed cycles : 2).[0m ×2 + 42.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491409 ms (missed cycles : 2). + 42.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491409 ms (missed cycles : 2).[0m ×2 + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305688 ms (missed cycles : 2). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305688 ms (missed cycles : 2).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231323 ms (missed cycles : 2). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231323 ms (missed cycles : 2).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515180 ms (missed cycles : 3). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515180 ms (missed cycles : 3).[0m ×2 + 45.92sINFOjoint_trajectory_controllerGoal reached, success! + 45.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 45.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791573600.08500934 seconds ×3 + 45.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 45.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 45.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 45.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 45.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 45.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 45.96sINFOstate_estimatorReceived a set_pose request (stamp: 1791573600102083234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.213ms + 46.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.48sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791573600.65526724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302600 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302600 ms (missed cycles : 2).[0m ×2 + 47.29sINFOobjective_server_nodeFound path in 0 iterations (1.7241e-05 s). ×2 + 47.32sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321426 ms (missed cycles : 2). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321426 ms (missed cycles : 2).[0m ×2 + 48.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.990ms + 48.18sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.00, -0.05, 5.6 deg) + 48.18sINFOamclInitializing particles from estimated pose and covariance + 48.18sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.00, -0.05, 5.6 deg)[0m ×2 + 48.18sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0045601, y=-0.0510296, yaw=0.0971341 + 48.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.911ms + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.769ms + 48.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2).[0m ×2 + 48.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.210ms + 49.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.197ms + 49.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.766ms + 49.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.748ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.5s	114 warnings · 193 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691406 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691406 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145699 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145699 ms (missed cycles : 2).[0m ×2 + 1.52sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.52sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.56sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791573668.14081049 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056252 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056252 ms (missed cycles : 2).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_node ×4 + 3.14sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791573669.71846151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557038 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557038 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567204 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567204 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 4.71sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.71sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.71sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.71sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754057 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754057 ms (missed cycles : 2).[0m ×2 + 5.61sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316752 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316752 ms (missed cycles : 2).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.916ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695234 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695234 ms (missed cycles : 2).[0m ×2 + 7.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.730ms + 7.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.593ms + 8.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.084ms + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582293 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582293 ms (missed cycles : 2).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.243ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882756 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882756 ms (missed cycles : 2).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.799ms + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.047ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592063 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592063 ms (missed cycles : 2).[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.848ms + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.902ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983085 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983085 ms (missed cycles : 2).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.039ms + 12.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.017ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066103 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066103 ms (missed cycles : 2).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.777ms + 13.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.113ms ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446750 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446750 ms (missed cycles : 2).[0m ×2 + 14.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.376ms + 14.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.992ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170455 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170455 ms (missed cycles : 2).[0m ×2 + 15.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.973ms + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.886ms + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932946 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932946 ms (missed cycles : 2).[0m ×2 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.802ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444133 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444133 ms (missed cycles : 3).[0m ×2 + 17.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.767ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251938 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251938 ms (missed cycles : 2).[0m ×2 + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.939ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.743ms + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952001 ms (missed cycles : 2). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952001 ms (missed cycles : 2).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.817ms + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.714ms + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674167 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674167 ms (missed cycles : 2).[0m ×2 + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.022ms + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694810 ms (missed cycles : 3). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694810 ms (missed cycles : 3).[0m ×2 + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.998ms + 21.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.294ms + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994048 ms (missed cycles : 2). + 22.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994048 ms (missed cycles : 2).[0m ×2 + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.288ms + 22.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.300ms + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512578 ms (missed cycles : 2). + 23.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512578 ms (missed cycles : 2).[0m ×2 + 23.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.806ms + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.335ms + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166663 ms (missed cycles : 2). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166663 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.805ms + 25.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.492ms + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928134 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928134 ms (missed cycles : 2).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.722ms + 26.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.625ms + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552419 ms (missed cycles : 2). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552419 ms (missed cycles : 2).[0m ×2 + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.614ms + 27.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180644 ms (missed cycles : 2). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180644 ms (missed cycles : 2).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.401ms + 28.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.857ms + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779564 ms (missed cycles : 2). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779564 ms (missed cycles : 2).[0m ×2 + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.615ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.760ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738399 ms (missed cycles : 2). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738399 ms (missed cycles : 2).[0m ×2 + 29.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.265ms + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.899ms + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259745 ms (missed cycles : 2). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259745 ms (missed cycles : 2).[0m ×2 + 30.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.533ms + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191319 ms (missed cycles : 2). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191319 ms (missed cycles : 2).[0m ×2 + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.865ms + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.663ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086033 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086033 ms (missed cycles : 2).[0m ×2 + 33.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791573699.68861389 seconds ×3 + 33.14sINFOstate_estimatorReceived a set_pose request (stamp: 1791573699705410556, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 33.24sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.13) is out of map bounds (-5.35, 6.50) to (-0.37, 11.48). The costmap cannot raytrace for it. + 33.24sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.16) is out of map bounds (-5.35, 6.50) to (-0.37, 11.48). The costmap cannot raytrace for it. + 33.34sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 33.34sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 33.51sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.393ms + 33.51sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 33.51sINFOamclInitializing particles from estimated pose and covariance + 33.51sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 33.51sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570136, y=-0.017177, yaw=-0.0183973 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404334 ms (missed cycles : 2). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404334 ms (missed cycles : 2).[0m ×2 + 33.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 33.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 33.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791573700.26222610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 14.202ms + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675493 ms (missed cycles : 3). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675493 ms (missed cycles : 3).[0m ×2 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925142 ms (missed cycles : 2). + 35.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925142 ms (missed cycles : 2).[0m ×2 + 36.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280879 ms (missed cycles : 2). + 36.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280879 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	14.8s	62 warnings · 257 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418917 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418917 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187104 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187104 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827109 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827109 ms (missed cycles : 3).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.570ms + 2.95sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.95sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791573885.69505978 seconds ×3 + 2.99sINFOcontroller_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 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOstate_estimatorReceived a set_pose request (stamp: 1791573885708558966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727449 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727449 ms (missed cycles : 2).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.713ms + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.52sINFOobjective_server_nodecaller: ×6 + 3.52sINFOobjective_server_nodetype: 0 ×6 + 3.52sINFOobjective_server_nodename: "" ×6 + 3.52sINFOobjective_server_nodeinstance_id: "" ×6 + 3.52sINFOobjective_server_node ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791573886.27512383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 4.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.08sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.08sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173108 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173108 ms (missed cycles : 2).[0m ×2 + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 5.13sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 5.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0540046, y=-0.0162823, yaw=-0.0163428 + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.459ms + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082372 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082372 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430420 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430420 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100656 ms (missed cycles : 3). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100656 ms (missed cycles : 3).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247230 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247230 ms (missed cycles : 2).[0m ×2 + 9.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191994 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191994 ms (missed cycles : 2).[0m ×2 + 9.71sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.77sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.88sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.91sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 10.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.18sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.43sINFOobjective_server_nodeFound path in 33 iterations (0.0207932 s). ×2 + 10.78sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261394 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261394 ms (missed cycles : 2).[0m ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 11.81sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730869 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730869 ms (missed cycles : 2).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900711 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900711 ms (missed cycles : 2).[0m ×2 + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.436ms + 14.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.054ms + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590161 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590161 ms (missed cycles : 2).[0m ×2 + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.811ms + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.040ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674221 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674221 ms (missed cycles : 2).[0m ×2 + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.579ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833805 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833805 ms (missed cycles : 2).[0m ×2 + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.895ms + 17.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791573900.51930952 seconds ×3 + 17.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573900538511854, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678551 ms (missed cycles : 2). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678551 ms (missed cycles : 2).[0m ×2 + 18.16sINFOamclParticle filter update iteration stats: 1682 particles 811 points - 6.223ms + 18.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.35sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 18.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573901.12826324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.42sINFOmove_groupClearing octomap...[0m ×2 + 18.42sINFOmove_groupOctomap cleared.[0m ×2 + 18.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 18.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573901.71840644 seconds ×3 + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271131 ms (missed cycles : 2). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271131 ms (missed cycles : 2).[0m ×2 + 19.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.55sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 19.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573902.28360939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.97sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 19.97sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 19.97sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567931, y=-0.0171826, yaw=-0.0184034 + 20.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.957ms + 20.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573902.82426190 seconds ×3 + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916289 ms (missed cycles : 2). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916289 ms (missed cycles : 2).[0m ×2 + 20.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591137 ms (missed cycles : 3). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591137 ms (missed cycles : 3).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	114 errors · 27 warnings · 546 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.579ms + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833805 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833805 ms (missed cycles : 2).[0m ×2 + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.895ms + 1.75sINFOjoint_trajectory_controllerGoal reached, success! + 1.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791573900.51930952 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.80sINFOstate_estimatorReceived a set_pose request (stamp: 1791573900538511854, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678551 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678551 ms (missed cycles : 2).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1682 particles 811 points - 6.223ms + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573901.12826324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573901.71840644 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271131 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271131 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573902.28360939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.93sINFOamclInitializing particles from estimated pose and covariance + 3.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567931, y=-0.0171826, yaw=-0.0184034 + 4.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.957ms + 4.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573902.82426190 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916289 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916289 ms (missed cycles : 2).[0m ×2 + 4.31sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591137 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591137 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050080 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050080 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759730 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759730 ms (missed cycles : 2).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397499 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397499 ms (missed cycles : 2).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454546 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454546 ms (missed cycles : 2).[0m ×2 + 10.43sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.46sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORweb_video_auth_proxy-41process has died [pid 7987, 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 + 10.46sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.48sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.48sERRORweb_bridge_auth_proxy-40process has died [pid 7986, 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 + 10.48sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.49sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.50sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.51sINFOvideo_server-39process has finished cleanly [pid 7985] ×2 + 10.51sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.52sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.53sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.54sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.55sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.56sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.57sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.58sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.59sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.60sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.61sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.62sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.62sINFOcontroller_managerShutdown request received.... + 10.62sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.62sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.62sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.62sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.63sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.63sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.63sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.63sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.63sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.63sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.63sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.63sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.63sINFOcontroller_managerShutting down the controller manager. + 10.64sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.64sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.65sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.66sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.67sERRORmove_group-25process has died [pid 7951, 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_a7tl04bf --params-file /tmp/launch_params_a6mj9bxj --params-file /tmp/launch_params_swpfmz3a --params-file /tmp/launch_params_fmny5fmm --params-file /tmp/launch_params_l8yqdvy8 --params-file /tmp/launch_params_fodgay2r']. ×2 + 10.67sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.68sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.69sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.70sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.71sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.72sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.73sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.73sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.73sINFOmap_serverDeactivating + 10.73sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.74sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.74sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.74sINFOcontroller_serverDeactivating + 10.74sINFOlocal_costmap.local_costmapDeactivating + 10.74sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.74sINFOvideo_server2026/10/09 19:25:09 INF shutting down gracefully ×2 + 10.74sINFOvideo_server2026/10/09 19:25:09 INF [WebRTC] closing ×2 + 10.74sINFOvideo_server2026/10/09 19:25:09 INF [RTSP] closing ×2 + 10.74sINFOvideo_server2026/10/09 19:25:09 INF waiting for running hooks ×2 + 10.74sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmap_serverCleaning up + 10.74sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.74sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.74sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.74sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.74sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.74sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.74sERRORmove_groupStack trace (most recent call last) in thread 8616: ×2 + 10.74sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.74sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.74sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.74sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd3624aacc3, in __clone ×2 + 10.74sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd36241db83, in ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.74sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd3626b0db3, in ×2 + 10.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.74sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.74sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.74sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.74sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.74sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fd362e16e64, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.74sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd362a42620, in rclcpp::Rate::sleep() ×2 + 10.74sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd362984d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.74sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd362946087, in ×2 + 10.74sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd36267f390, in __cxa_throw ×2 + 10.74sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd362669a54, in std::terminate() ×2 + 10.74sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd36267f0d9, in ×2 + 10.74sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd362669ff4, in ×2 + 10.75sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd3623a98fe, in abort ×2 + 10.75sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd3623c627d, in raise ×2 + 10.75sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd36241fc0c, in pthread_kill ×2 + 10.75sERRORmove_groupAborted (Signal sent by tkill() 7951 0) ×2 + 10.75sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.75sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.75sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.75sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.75sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.76sERRORamclThe bond connection to the lifecycle manager has been broken + 10.77sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.78sINFOcontroller_serverCleaning up + 10.78sINFOlocal_costmap.local_costmapCleaning up + 10.82sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.82sINFOsmoother_serverDeactivating + 10.82sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.83sINFOsmoother_serverCleaning up + 10.84sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.84sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 10.85sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.85sINFOplanner_serverDeactivating + 10.85sINFOglobal_costmap.global_costmapDeactivating + 10.88sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.88sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.88sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.88sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.88sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.88sINFOvelocity_smootherDeactivating + 10.88sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.09sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.09sINFOwaypoint_followerDeactivating + 11.09sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.29sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.29sINFObt_navigatorDeactivating + 11.29sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.38sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.38sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.39sINFOplanner_serverCleaning up + 11.41sINFOglobal_costmap.global_costmapCleaning up + 11.42sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.42sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.46sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.46sINFObehavior_serverDeactivating + 11.46sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.47sINFObehavior_serverCleaning up + 11.47sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.47sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.47sINFOwaypoint_followerCleaning up + 11.48sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.48sINFOvelocity_smootherCleaning up + 11.48sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.48sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.54sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.54sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.54sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.54sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.54sINFOjoint_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 + 11.54sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.54sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.54sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.54sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.54sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.54sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.54sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.54sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.54sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.54sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.54sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.54sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.54sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.54sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.55sINFOtf2_web_republisher_node-38process has finished cleanly [pid 7977] ×2 + 11.55sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.59sERRORjoint_state_visualization_relay-37process has died [pid 7976, 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_86z3asvh']. ×2 + 11.59sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.61sINFOtf_visualization_relay-36process has finished cleanly [pid 7971] ×2 + 11.61sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.63sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 7956] ×2 + 11.64sINFOui_teleop_bridge-34process has finished cleanly [pid 7968] ×2 + 11.64sINFOmove_joint_resampler_node-28process has finished cleanly [pid 7954] ×2 + 11.64sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.65sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.65sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.65sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.65sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.65sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.65sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.65sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.65sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.65sINFOexecute_objective_bridge-33process has finished cleanly [pid 7966] ×2 + 11.65sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.65sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.65sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.65sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.65sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.67sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.67sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.67sINFObt_navigatorCleaning up + 11.67sINFOparameter_manager_node-26process has finished cleanly [pid 7952] ×2 + 11.70sINFOwaypoint_manager_node-27process has finished cleanly [pid 7953] ×2 + 11.70sINFOrelay-11process has finished cleanly [pid 7891] ×2 + 11.70sINFOrelay-10process has finished cleanly [pid 7890] ×2 + 11.72sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7786] ×2 + 11.73sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7785] ×2 + 11.73sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 7892] ×2 + 11.73sINFOstatic_transform_publisher-7process has finished cleanly [pid 7784] ×2 + 11.74sINFOcomponent_container_mt-32process has finished cleanly [pid 7965] ×2 + 11.74sINFOstatic_transform_publisher-6process has finished cleanly [pid 7783] ×2 + 11.74sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.74sINFOlidar_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 + 11.74sINFOlidar_flattener.pymain() ×2 + 11.74sINFOlidar_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 + 11.74sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.74sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.74sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.74sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.74sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.74sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.74sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.74sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.74sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.74sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.76sINFOstatic_transform_publisher-3process has finished cleanly [pid 7780] ×2 + 11.77sINFOobjective_server_node[2026-10-09 19:25:10.515] [moveit_pro_license] [critical] ×2 + 11.77sINFOobjective_server_node************************************************* ×4 + 11.77sINFOobjective_server_node* MoveIt Pro License ×2 + 11.77sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.78sERRORlidar_flattener.py-5process has died [pid 7782, 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_e3zijm0o']. ×2 + 11.84sINFObt_navigatorCompleted Cleaning up + 11.84sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.84sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.84sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.84sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.85sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.85sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.85sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.85sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.85sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.85sINFOobjective_server_node_main-30process has finished cleanly [pid 7957] ×2 + 11.85sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.11sERRORcomponent_container_isolated-1process has died [pid 7778, 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_llayy755 --params-file /tmp/launch_params_btd9mpo8 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.75sINFOodom_world_drift-4process has finished cleanly [pid 7781] ×2 + 12.79sINFOcomponent_container_mt-31process has finished cleanly [pid 7964] ×2 + 13.06sERRORcomponent_container_isolated-2process has died [pid 7779, 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_llayy755 --params-file /tmp/launch_params__fz6q0rs -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.38sINFOros2_control_node-13process has finished cleanly [pid 7893] ×2 + 13.56sINFOweb_bridge-35process has finished cleanly [pid 7969] ×2 + 13.56sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 60 warnings · 173 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.608ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303295 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303295 ms (missed cycles : 2).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.607ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061749 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061749 ms (missed cycles : 2).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.783ms + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791573748.61237216 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861925 ms (missed cycles : 2). + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861925 ms (missed cycles : 2).[0m ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.35sINFOstate_estimatorReceived a set_pose request (stamp: 1791573748633498822, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.49) is out of map bounds (-3.80, 3.50) to (1.18, 8.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.02) is out of map bounds (-3.80, 3.50) to (1.18, 8.48). The costmap cannot raytrace for it. + 2.51sWARNlocal_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. + 2.51sWARNlocal_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. + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 5.942ms + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 5.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-1.76, 6.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.759ms + 2.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 2.90sINFOamclInitializing particles from estimated pose and covariance ×2 + 2.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 2.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569096, y=-0.0171796, yaw=-0.0183998 + 2.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791573749.19874096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.847ms + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065881 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065881 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071747 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071747 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 4.52sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.52sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135468 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135468 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169768 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169768 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.976ms + 7.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.859ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224641 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224641 ms (missed cycles : 2).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.881ms + 8.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.848ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028391 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028391 ms (missed cycles : 2).[0m ×2 + 8.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.865ms + 9.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.961ms + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188405 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188405 ms (missed cycles : 2).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.080ms + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714186 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714186 ms (missed cycles : 2).[0m ×2 + 10.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.272ms + 11.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.811ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682713 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682713 ms (missed cycles : 3).[0m ×2 + 11.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.717ms + 12.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.884ms + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045321 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045321 ms (missed cycles : 2).[0m ×2 + 12.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.125ms + 13.12sINFOobjective_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 + 13.12sINFOjoint_trajectory_controllerGot request to cancel goal + 13.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.17sERRORobjective_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: 1791573759.46931648 seconds ×3 + 13.20sINFOstate_estimatorReceived a set_pose request (stamp: 1791573759490249538, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.41sWARNlocal_costmap.local_costmapSensor origin at (-0.74, 3.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.41sWARNlocal_costmap.local_costmapSensor origin at (-1.64, 3.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.238ms + 13.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791573760.05411768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742578 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742578 ms (missed cycles : 2).[0m ×2 + 14.07sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745734 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745734 ms (missed cycles : 2).[0m ×2 + 15.34sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.844ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705743 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705743 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.1s	48 warnings · 151 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.189ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.374ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.76sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573661.99384022 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573662011919419, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2).[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.465ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171784, yaw=-0.0183985 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573662.57064962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.897ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.90sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.90sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691406 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691406 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145699 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145699 ms (missed cycles : 2).[0m ×2 + 8.95sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791573668.14081049 seconds ×3 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056252 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056252 ms (missed cycles : 2).[0m ×2 + 10.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.50sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791573669.71846151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557038 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557038 ms (missed cycles : 3).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567204 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567204 ms (missed cycles : 3).[0m ×2 + 12.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754057 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754057 ms (missed cycles : 2).[0m ×2 + 12.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316752 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316752 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.3s	45 warnings · 148 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.606ms + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816056 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816056 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.197ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.199ms + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.439ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054493 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054493 ms (missed cycles : 3).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.132ms + 2.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.976ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256295 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256295 ms (missed cycles : 2).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.02sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791573823.20431113 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1791573823221635364, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-2.68, 13.54) is out of map bounds (-2.65, -2.25) to (2.33, 2.73). The costmap cannot raytrace for it. + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.56, 13.36) is out of map bounds (-2.65, -2.25) to (2.33, 2.73). The costmap cannot raytrace for it. + 3.22sWARNlocal_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. ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.56, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.398ms + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791573823.77048278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288537 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288537 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724838 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724838 ms (missed cycles : 2).[0m ×2 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg) + 5.15sINFOamclInitializing particles from estimated pose and covariance + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg)[0m ×2 + 5.15sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0547689, y=-0.0155617, yaw=-0.0112459 + 5.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.457ms + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449512 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449512 ms (missed cycles : 2).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 9.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 9.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 11.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	5.8s	36 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305688 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231323 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231323 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515180 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515180 ms (missed cycles : 3).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791573600.08500934 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.42sINFOstate_estimatorReceived a set_pose request (stamp: 1791573600102083234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.213ms + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791573600.65526724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302600 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302600 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7241e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.81sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.81sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.81sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321426 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321426 ms (missed cycles : 2).[0m ×2 + 4.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.990ms + 4.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.00, -0.05, 5.6 deg) + 4.63sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.00, -0.05, 5.6 deg)[0m ×2 + 4.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0045601, y=-0.0510296, yaw=0.0971341 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.911ms + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.769ms + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.210ms + 5.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.197ms + 5.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.766ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.748ms + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125786 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125786 ms (missed cycles : 2).[0m ×2 + 6.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.592ms + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.942ms + 6.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.102ms + 7.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.185ms + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.140ms + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276464 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276464 ms (missed cycles : 2).[0m ×2 + 7.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.317ms + 8.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791573605.85540819 seconds ×3 + 8.19sINFOstate_estimatorReceived a set_pose request (stamp: 1791573605871808403, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 8.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.760ms + 8.52sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 4.071ms + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320602 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320602 ms (missed cycles : 2).[0m ×2 + 8.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.70sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791573606.43367434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687377 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687377 ms (missed cycles : 3).[0m ×2 + 10.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 10.33sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 10.33sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 10.33sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 10.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.072ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480040 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480040 ms (missed cycles : 3).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428677 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428677 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	21 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.811ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.040ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674221 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674221 ms (missed cycles : 2).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.579ms + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833805 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833805 ms (missed cycles : 2).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.895ms + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791573900.51930952 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1791573900538511854, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678551 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678551 ms (missed cycles : 2).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 1682 particles 811 points - 6.223ms + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573901.12826324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.48sINFOmove_groupClearing octomap...[0m ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573901.71840644 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271131 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271131 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.60sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573902.28360939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.02sINFOamclInitializing particles from estimated pose and covariance + 5.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567931, y=-0.0171826, yaw=-0.0184034 + 5.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.957ms + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573902.82426190 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916289 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916289 ms (missed cycles : 2).[0m ×2 + 5.41sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591137 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591137 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050080 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050080 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 319 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 1.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_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 + 2.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.38sINFOjoint_trajectory_controllerReceived new action goal + 4.38sINFOjoint_trajectory_controllerAccepted new action goal + 4.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969381 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969381 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305688 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231323 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231323 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515180 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515180 ms (missed cycles : 3).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791573600.08500934 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOstate_estimatorReceived a set_pose request (stamp: 1791573600102083234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.213ms + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791573600.65526724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302600 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302600 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7241e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOjoint_trajectory_controllerReceived new action goal + 3.81sINFOjoint_trajectory_controllerAccepted new action goal + 3.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321426 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321426 ms (missed cycles : 2).[0m ×2 + 4.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.990ms + 4.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.00, -0.05, 5.6 deg) + 4.63sINFOamclInitializing particles from estimated pose and covariance + 4.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.00, -0.05, 5.6 deg)[0m ×2 + 4.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0045601, y=-0.0510296, yaw=0.0971341 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.911ms + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.769ms + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.210ms + 5.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.197ms + 5.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.766ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.748ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305688 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231323 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231323 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515180 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515180 ms (missed cycles : 3).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791573600.08500934 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOstate_estimatorReceived a set_pose request (stamp: 1791573600102083234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.213ms + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791573600.65526724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302600 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302600 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (1.7241e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOjoint_trajectory_controllerReceived new action goal + 3.81sINFOjoint_trajectory_controllerAccepted new action goal + 3.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321426 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321426 ms (missed cycles : 2).[0m ×2 + 4.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.990ms + 4.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.00, -0.05, 5.6 deg) + 4.63sINFOamclInitializing particles from estimated pose and covariance + 4.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.00, -0.05, 5.6 deg)[0m ×2 + 4.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0045601, y=-0.0510296, yaw=0.0971341 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.911ms + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.769ms + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.210ms + 5.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.197ms + 5.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.766ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.748ms
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 89 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.769ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007062 ms (missed cycles : 2).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.210ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.197ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.766ms + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.748ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125786 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125786 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.592ms + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.942ms + 1.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.102ms + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.185ms + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.140ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276464 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276464 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.317ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791573605.85540819 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1791573605871808403, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.760ms + 3.36sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 4.071ms + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320602 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320602 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791573606.43367434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687377 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687377 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.17sINFOamclInitializing particles from estimated pose and covariance + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.072ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480040 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480040 ms (missed cycles : 3).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428677 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428677 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.189ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.374ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573661.99384022 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573662011919419, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2).[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.465ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171784, yaw=-0.0183985 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573662.57064962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.897ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.189ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.374ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573661.99384022 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573662011919419, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2).[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.465ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171784, yaw=-0.0183985 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573662.57064962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.897ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.189ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.374ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573661.99384022 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573662011919419, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2).[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.465ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171784, yaw=-0.0183985 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573662.57064962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.897ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.189ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.374ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573661.99384022 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573662011919419, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2).[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.465ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171784, yaw=-0.0183985 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573662.57064962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.897ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.189ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.374ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573661.99384022 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573662011919419, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2).[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.465ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171784, yaw=-0.0183985 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573662.57064962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.897ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.189ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.374ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573661.99384022 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573662011919419, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2).[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.465ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171784, yaw=-0.0183985 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573662.57064962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.897ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053419 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.189ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792231 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.374ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339471 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791573661.99384022 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791573662011919419, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665231 ms (missed cycles : 2).[0m ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.465ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569533, y=-0.0171784, yaw=-0.0183985 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791573662.57064962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.897ms + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659969 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931476 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771565 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	27 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.899ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259745 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259745 ms (missed cycles : 2).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.533ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191319 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191319 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.865ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.663ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086033 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086033 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791573699.68861389 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOstate_estimatorReceived a set_pose request (stamp: 1791573699705410556, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.13) is out of map bounds (-5.35, 6.50) to (-0.37, 11.48). The costmap cannot raytrace for it. + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.16) is out of map bounds (-5.35, 6.50) to (-0.37, 11.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.393ms + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.17sINFOamclInitializing particles from estimated pose and covariance + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570136, y=-0.017177, yaw=-0.0183973 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404334 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404334 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791573700.26222610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 14.202ms + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675493 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675493 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925142 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925142 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280879 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280879 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	27 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.899ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259745 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259745 ms (missed cycles : 2).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.533ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191319 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191319 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.865ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.663ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086033 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086033 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791573699.68861389 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOstate_estimatorReceived a set_pose request (stamp: 1791573699705410556, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.13) is out of map bounds (-5.35, 6.50) to (-0.37, 11.48). The costmap cannot raytrace for it. + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.16) is out of map bounds (-5.35, 6.50) to (-0.37, 11.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.393ms + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.17sINFOamclInitializing particles from estimated pose and covariance + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570136, y=-0.017177, yaw=-0.0183973 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404334 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404334 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791573700.26222610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 14.202ms + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675493 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675493 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925142 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925142 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280879 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280879 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	27 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.899ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259745 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259745 ms (missed cycles : 2).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.533ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191319 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191319 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.865ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.663ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086033 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086033 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791573699.68861389 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOstate_estimatorReceived a set_pose request (stamp: 1791573699705410556, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.13) is out of map bounds (-5.35, 6.50) to (-0.37, 11.48). The costmap cannot raytrace for it. + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.16) is out of map bounds (-5.35, 6.50) to (-0.37, 11.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.393ms + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.17sINFOamclInitializing particles from estimated pose and covariance + 3.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570136, y=-0.017177, yaw=-0.0183973 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404334 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404334 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791573700.26222610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 14.202ms + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675493 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675493 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925142 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925142 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280879 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280879 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 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 4.200877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 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 4.200877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 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 4.200877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 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 4.200877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 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 4.200877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 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 4.200877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 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 4.200877 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200877 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284878 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791573829.54062748 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791573830.11491871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021380 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732945 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713117 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155208 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.811ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.040ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674221 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674221 ms (missed cycles : 2).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.579ms + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833805 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833805 ms (missed cycles : 2).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.895ms + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791573900.51930952 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1791573900538511854, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678551 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678551 ms (missed cycles : 2).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 1682 particles 811 points - 6.223ms + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791573901.12826324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.48sINFOmove_groupClearing octomap...[0m ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791573901.71840644 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271131 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271131 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.60sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791573902.28360939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.02sINFOamclInitializing particles from estimated pose and covariance + 5.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567931, y=-0.0171826, yaw=-0.0184034 + 5.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.957ms + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791573902.82426190 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916289 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916289 ms (missed cycles : 2).[0m ×2 + 5.41sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591137 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591137 ms (missed cycles : 3).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253537 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.51sINFOobjective_server_nodetype: 0 ×10 + 2.51sINFOobjective_server_nodename: "" ×10 + 2.51sINFOobjective_server_nodeinstance_id: "" ×10 + 2.51sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.55sINFOmove_groupClearing octomap...[0m ×4 + 2.55sINFOmove_groupOctomap cleared.[0m ×4 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969381 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969381 ms (missed cycles : 2).[0m ×2

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

9 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017348 ms (missed cycles : 2).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021470 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791573554.71071792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.50sINFOmove_groupClearing octomap...[0m ×4 + 1.50sINFOmove_groupOctomap cleared.[0m ×4 + 1.50sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.50sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791573554.72095966 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791573555.29858136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791573555.30872107 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537287 ms (missed cycles : 3).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791573555.87450671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791573556.02508950 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621883 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791573556.60647202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791573556.66660166 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791573557.23521948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730921 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892293 ms (missed cycles : 2).[0m ×2