86
Total objective tests
19
Objectives passed
0
Objectives failed
67
Objectives skipped
20.5s
Avg test time
100%
Objective pass rate
▾
(no parent)2 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.5s | 12 errors · 309 warnings · 1596 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/2026-10-11-06-17-10-733634-2fd38059c092-7878 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.52sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 4.53sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.54sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.62sINFOcontroller_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. + 4.66sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.67sINFOcontroller_serverCreating controller server + 4.70sINFOlocal_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. + 4.71sINFOlocal_costmap.local_costmapCreating Costmap + 4.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.73sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.73sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.73sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.73sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.76sINFOsmoother_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. + 4.77sINFOsmoother_serverCreating smoother server + 4.78sINFOmap_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. + 4.78sINFOmap_serverCreating + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.79sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.80sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.82sINFOplanner_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. + 4.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.84sINFOcontroller_managerupdate rate is 600 Hz + 4.84sINFOcontroller_managerOverruns handling is : enabled + 4.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.85sINFOplanner_serverCreating + 4.85sWARNcontroller_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. + 4.86sINFOstate_estimatorReceived a set_pose request (stamp: 1791699437253564196, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.87sINFOros2_control_node-13process started with pid [8043] ×2 + 4.87sINFOmove_group-25process started with pid [8101] ×2 + 4.87sINFOparameter_manager_node-26process started with pid [8103] ×2 + 4.87sINFOwaypoint_manager_node-27process started with pid [8108] ×2 + 4.87sINFOmove_joint_resampler_node-28process started with pid [8109] ×2 + 4.87sINFOmove_end_effector_resampler_node-29process started with pid [8112] ×2 + 4.87sINFOobjective_server_node_main-30process started with pid [8113] ×2 + 4.87sINFOcomponent_container_mt-31process started with pid [8114] ×2 + 4.87sINFOcomponent_container_mt-32process started with pid [8115] ×2 + 4.87sINFOexecute_objective_bridge-33process started with pid [8118] ×2 + 4.87sINFOui_teleop_bridge-34process started with pid [8123] ×2 + 4.87sINFOweb_bridge-35process started with pid [8129] ×2 + 4.87sINFOtf_visualization_relay-36process started with pid [8131] ×2 + 4.89sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.90sINFOglobal_costmap.global_costmapCreating Costmap + 4.91sINFOjoint_state_visualization_relay-37process started with pid [8132] ×2 + 4.91sINFOtf2_web_republisher_node-38process started with pid [8133] ×2 + 4.91sINFOvideo_server-39process started with pid [8134] ×2 + 4.91sINFOweb_bridge_auth_proxy-40process started with pid [8136] ×2 + 4.91sINFOweb_video_auth_proxy-41process started with pid [8153] ×2 + 4.91sINFOcomponent_container_isolated-1process started with pid [7928] ×2 + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.92sINFOcomponent_container_isolated-2process started with pid [7929] ×2 + 4.93sINFOstatic_transform_publisher-3process started with pid [7930] ×2 + 4.93sINFOodom_world_drift-4process started with pid [7931] ×2 + 4.93sINFOlidar_flattener.py-5process started with pid [7932] ×2 + 4.93sINFOstatic_transform_publisher-6process started with pid [7933] ×2 + 4.93sINFOstatic_transform_publisher-7process started with pid [7934] ×2 + 4.93sINFOscan_to_scan_filter_chain-8process started with pid [7935] ×2 + 4.93sINFOscan_to_scan_filter_chain-9process started with pid [7936] ×2 + 4.93sINFOrelay-10process started with pid [8040] ×2 + 4.93sINFOrelay-11process started with pid [8041] ×2 + 4.93sINFOfixed_lag_smoother_node-12process started with pid [8042] ×2 + 4.93sINFOros2-14process started with pid [8044] ×2 + 4.93sINFOros2-15process started with pid [8045] ×2 + 4.93sINFOros2-16process started with pid [8046] ×2 + 4.93sINFOros2-17process started with pid [8047] ×2 + 4.93sINFOros2-18process started with pid [8048] ×2 + 4.93sINFOros2-19process started with pid [8049] ×2 + 4.93sINFOros2-20process started with pid [8050] ×2 + 4.93sINFOros2-21process started with pid [8051] ×2 + 4.93sINFOros2-22process started with pid [8052] ×2 + 4.93sINFOros2-23process started with pid [8053] ×2 + 4.93sINFOros2-24process started with pid [8054] ×2 + 4.94sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.94sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.94sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.95sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.95sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.95sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.95sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.95sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.95sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.95sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.95sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.95sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.95sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.95sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.95sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.95sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.95sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.95sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.95sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.95sWARNros2_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 + 4.97sINFOlifecycle_manager_localizationCreating + 4.99sINFObehavior_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. + 5.01sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.02sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.02sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.02sINFOmap_serverConfiguring + 5.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406570 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406570 ms (missed cycles : 3).[0m ×2 + 5.07sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.10sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.12sINFObt_navigatorCreating + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.15sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.15sINFOamclConfiguring + 5.16sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.17sINFOmap_serverActivating + 5.17sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.18sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.18sINFOwaypoint_followerCreating + 5.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.21sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.22sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.23sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.24sINFOvideo_server2026/10/11 06:17:17 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.24sINFOvideo_server2026/10/11 06:17:17 INF configuration loaded from /tmp/moveit-webrtc-goo74kzn/mediamtx.yml ×2 + 5.25sINFOvideo_server2026/10/11 06:17:17 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.25sINFOvideo_server2026/10/11 06:17:17 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.25sINFOlifecycle_manager_navigationCreating + 5.25sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.26sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.26sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.26sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.28sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.28sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.28sINFOamclActivating + 5.28sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.28sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.28sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.28sINFOamclSubscribed to map_topic: /map + 5.28sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.30sINFOamclCreated reinitialize_global_localization service + 5.31sINFOamclCreated request_nomotion_update service + 5.32sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.32sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.32sINFOcontroller_serverConfiguring controller interface + 5.32sINFOcontroller_servergetting progress checker plugins.. + 5.32sINFOamclA new map was received + 5.32sINFOamclInitializing particle filter instance + 5.32sINFOcontroller_servergetting goal checker plugins.. + 5.32sINFOcontroller_serverController frequency set to 20.0000Hz + 5.32sINFOlocal_costmap.local_costmapConfiguring + 5.34sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.36sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.40sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.40sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.40sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.41sINFOrobot_state_publisherRobot initialized + 5.41sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.41sINFOcontroller_managerReceived robot description from topic. + 5.42sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.42sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.42sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.43sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.44sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.44sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.44sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.45sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.45sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.46sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.47sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.47sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.48sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.48sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.48sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.48sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.48sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.48sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.49sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.49sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.49sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.49sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.49sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.49sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.49sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.50sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.50sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.50sINFOcontroller_serverOptimizer reset ×2 + 5.52sINFOcontroller_serverController Server has FollowPath controllers available. + 5.55sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.55sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.55sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.55sINFOsmoother_serverConfiguring smoother server + 5.55sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.57sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.57sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.58sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.59sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.59sINFOplanner_serverConfiguring + 5.59sINFOglobal_costmap.global_costmapConfiguring + 5.60sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.63sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.63sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.63sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.63sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.65sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.65sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.65sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.70sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.71sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.71sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.71sINFOplanner_serverPlanner Server has GridBased planners available. + 5.73sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.73sINFObehavior_serverConfiguring + 5.75sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.75sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.76sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.77sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.78sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.79sINFObehavior_serverConfiguring spin + 5.81sINFObehavior_serverConfiguring backup + 5.82sINFObehavior_serverConfiguring drive_on_heading + 5.83sINFObehavior_serverConfiguring assisted_teleop + 5.85sINFObehavior_serverConfiguring wait + 5.87sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.87sINFObt_navigatorConfiguring + 5.89sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.91sWARNbt_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 + 5.99sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.34432 seconds + 5.99sINFOmove_groupLoaded robot model in 0.34432 seconds[0m ×2 + 5.99sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.99sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.99sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.99sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168828 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168828 ms (missed cycles : 4).[0m ×2 + 6.13sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.13sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.15sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.16sINFOamclParticle filter initialization completed + 6.16sINFOamclInitializing particles from estimated pose and covariance + 6.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.18sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.18sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.18sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.24sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.24sINFOwaypoint_followerConfiguring + 6.26sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.33sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.34sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.34sINFOvelocity_smootherConfiguring velocity smoother + 6.36sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.36sINFOcontroller_serverActivating + 6.36sINFOlocal_costmap.local_costmapActivating + 6.36sINFOlocal_costmap.local_costmapChecking transform + 6.36sINFOlocal_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 ×7 + 6.46sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.46sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.67sINFOmove_group[2026-10-11 06:17:19.068] [moveit_pro_license] [info] ×2 + 6.67sINFOmove_group************************************************* ×4 + 6.67sINFOmove_group* MoveIt Pro License ×2 + 6.67sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.69sINFOwaypoint_manager_nodeLoaded robot model in 0.415822 seconds[0m ×2 + 6.69sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.69sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.70sINFOweb_bridge_auth_proxy2026-10-11 06:17:19,094 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.70sINFOweb_bridge_auth_proxy2026-10-11 06:17:19,097 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.71sINFOweb_video_auth_proxy2026-10-11 06:17:19,101 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.81sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.81sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.81sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.81sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.84sINFOros2_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 + 6.84sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 7.06sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.06sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.06sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.06sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.07sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.07sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.07sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.07sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.07sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.07sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.07sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.08sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.08sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.08sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.08sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.08sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.08sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.09sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.09sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.09sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.09sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.09sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.09sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.09sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.09sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.10sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.10sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.10sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.11sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.11sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.11sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.11sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.11sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.11sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.11sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.11sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.12sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.12sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.12sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.12sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.12sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.12sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.12sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.12sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.39sINFOwaypoint_manager_node[2026-10-11 06:17:19.783] [moveit_pro_license] [info] ×2 + 7.39sINFOwaypoint_manager_node************************************************* ×4 + 7.39sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.63sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.63sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.63sINFOros2_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 + 7.63sWARNros2_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 + 7.63sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.63sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.63sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.63sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.63sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.63sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.63sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.63sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.63sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.63sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.63sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.63sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.63sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.63sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.64sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.64sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.64sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.64sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.64sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.64sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.64sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.64sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.64sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.68sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.68sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.72sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.72sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.72sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.87sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.87sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 7.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855022 ms (missed cycles : 2). + 7.91sINFOobjective_server_node[2026-10-11 06:17:20.306] [moveit_pro_license] [info] ×2 + 7.91sINFOobjective_server_node************************************************* ×4 + 7.91sINFOobjective_server_node* MoveIt Pro License ×2 + 7.91sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855022 ms (missed cycles : 2).[0m ×2 + 7.92sINFOros2_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 + 7.92sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.92sWARNros2_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 + 7.92sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.93sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.93sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.93sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.95sINFOforce_torque_sensor_broadcasterconfigure successful + 7.95sINFOros2_control_nodeconfigure successful[0m ×6 + 7.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.96sINFOcontroller_managerSuccessfully switched controllers! ×22 + 7.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 7.96sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.96sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.99sINFOobjective_server_nodeLoaded robot model in 0.0307516 seconds[0m ×2 + 7.99sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.99sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.18sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.23sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.29sINFOros2-14process has finished cleanly [pid 8044] ×2 + 8.29sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.29sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.29sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.29sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.35sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.35sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.38sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.38sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.38sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.38sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.39sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.39sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.39sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.39sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.39sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.40sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.40sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.40sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.40sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.40sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.40sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.40sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.40sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.40sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.42sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 8.42sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.43sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.45sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 8.49sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 8.49sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 8.49sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 8.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.51sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.52sINFOobjective_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 + 8.52sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.54sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.54sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.54sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.54sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.54sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.54sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.54sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.64sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.67sINFOstreaming_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) + 8.68sINFOcomponent_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 + 8.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.68sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.68sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.88sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.88sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.93sINFOcomponent_container_mtLoaded robot model in 0.47413 seconds[0m ×2 + 8.93sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.93sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.96sINFOros2_control_node[2026-10-11 06:17:21.351] [info] Controller state will be published at 20 Hz. ×2 + 8.96sINFOmove_groupMoveGroup debug mode is ON + 8.96sINFOros2_control_node[2026-10-11 06:17:21.352] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.96sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.99sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.99sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.12sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 9.12sINFOmove_group ×8 + 9.12sINFOmove_group******************************************************** ×4 + 9.12sINFOmove_group* MoveGroup using: ×2 + 9.12sINFOmove_group* - apply_planning_scene_service ×2 + 9.12sINFOmove_group* - clear_octomap_service ×2 + 9.12sINFOmove_group* - get_group_urdf ×2 + 9.12sINFOmove_group* - load_geometry_from_file ×2 + 9.12sINFOmove_group* - get_planning_scene_service ×2 + 9.12sINFOmove_group* - kinematics_service ×2 + 9.12sINFOmove_group* - save_geometry_to_file ×2 + 9.12sINFOmove_group* - GetPlanningGroups ×2 + 9.12sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.12sINFOmove_group[0m ×2 + 9.12sINFOmove_group[92mYou can start planning now![0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712829 ms (missed cycles : 3). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712829 ms (missed cycles : 3).[0m ×2 + 9.29sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.29sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.29sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.29sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.29sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 9.29sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 9.31sINFOros2-24process has finished cleanly [pid 8054] ×2 + 9.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.35sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.36sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.37sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 9.37sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 9.37sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 9.37sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 9.37sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 9.37sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 9.38sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 9.38sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 9.55sWARNros2_control_nodeCamera render tick took 0.81 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 + 9.58sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.58sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.58sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.58sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.64sINFOcomponent_container_mt[2026-10-11 06:17:22.038] [moveit_pro_license] [info] ×2 + 9.64sINFOcomponent_container_mt************************************************* ×4 + 9.64sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.64sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.70sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 9.70sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 9.70sINFOros2-15process has finished cleanly [pid 8045] ×2 + 9.76sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.76sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.76sINFOplatform_velocity_controllerconfigure successful + 9.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.77sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.86sINFOlocal_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. ×5 + 10.00sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.00sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.12sINFOros2-17process has finished cleanly [pid 8047] ×2 + 10.14sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.14sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.14sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 10.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184053 ms (missed cycles : 2). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184053 ms (missed cycles : 2).[0m ×2 + 10.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.54sINFOros2_control_node[2026-10-11 06:17:22.940] [info] Controller state will be published at 20 Hz. ×2 + 10.55sINFOros2_control_node[2026-10-11 06:17:22.941] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.58sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791699441.139 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.86sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.86sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 10.86sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.86sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 10.87sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 10.87sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 10.89sINFOros2-23process has finished cleanly [pid 8053] ×2 + 10.92sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 10.92sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 10.93sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 10.93sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 10.93sINFOplatform_velocity_controller_nav2configure successful + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257074 ms (missed cycles : 3). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257074 ms (missed cycles : 3).[0m ×2 + 11.28sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.28sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.28sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.28sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.28sINFOros2-19process has finished cleanly [pid 8049] ×2 + 11.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 11.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 11.41sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.41sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.41sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.41sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.76sINFOros2_control_node[2026-10-11 06:17:24.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.76sINFOros2_control_node[2026-10-11 06:17:24.161] [info] Controller state will be published at 10 Hz. ×2 + 11.77sINFOros2_control_node[2026-10-11 06:17:24.162] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 12.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 12.12sINFOros2-22process has finished cleanly [pid 8052] ×2 + 12.15sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.15sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.17sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.17sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968857 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968857 ms (missed cycles : 2).[0m ×2 + 12.36sINFOlocal_costmap.local_costmapstart + 12.46sWARNcontroller_serverParameter controller_server.verbose not found + 12.46sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.50sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.50sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.50sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 12.50sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 12.50sINFOros2-16process has finished cleanly [pid 8046] ×2 + 12.54sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 12.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.56sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.56sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.57sINFOsmoother_serverActivating + 12.57sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.57sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.57sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.67sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.67sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.67sINFOplanner_serverActivating + 12.67sINFOglobal_costmap.global_costmapActivating + 12.67sINFOglobal_costmap.global_costmapChecking transform + 12.67sINFOglobal_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. + 12.89sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791699444.554 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.97sINFOros2_control_node[2026-10-11 06:17:25.364] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.97sINFOros2_control_node[2026-10-11 06:17:25.366] [info] Controller state will be published at 10 Hz. ×2 + 12.97sINFOros2_control_node[2026-10-11 06:17:25.367] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.07sINFOamclParticle filter update iteration stats: 1714 particles 811 points - 20.217ms + 13.15sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791699444.132 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.17sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1791699445.533398, but only time 1791699445.993212 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.31sINFOros2-21process has finished cleanly [pid 8051] ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072433 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072433 ms (missed cycles : 2).[0m ×2 + 13.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.49sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.49sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 13.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 13.60sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.60sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.60sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.60sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.60sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.60sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.60sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.60sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.60sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.60sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.61sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.61sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.67sINFOglobal_costmap.global_costmapstart + 13.95sINFOros2-20process has finished cleanly [pid 8050] ×2 + 13.97sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 13.97sINFOcontroller_managerLoading controller 'vacuum_gripper' + 13.97sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 13.97sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 13.97sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui + 13.97sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_gdtujqdt --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_0bw5rhto --params-file /tmp/launch_params_a6bxt6ui [0m ×2 + 13.99sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 13.99sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 14.02sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 14.02sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 14.02sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 14.02sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 14.02sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 14.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 14.02sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 14.02sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 14.03sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 14.03sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 14.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 14.30sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 14.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.30sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 14.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 14.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 14.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 14.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 14.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 14.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 14.32sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 14.32sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 14.35sINFOros2-18process has finished cleanly [pid 8048] ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006447 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006447 ms (missed cycles : 2).[0m ×2 + 14.72sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 14.72sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 14.83sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 14.83sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 14.83sINFObehavior_serverActivating + 14.83sINFObehavior_serverActivating spin + 14.83sINFObehavior_serverActivating backup + 14.83sINFObehavior_serverActivating drive_on_heading + 14.83sINFObehavior_serverActivating assisted_teleop + 14.83sINFObehavior_serverActivating wait + 14.83sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.93sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.93sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.93sINFObt_navigatorActivating + 15.00sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.11sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.11sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.11sINFOwaypoint_followerActivating + 15.11sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.22sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.22sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.22sINFOvelocity_smootherActivating + 15.22sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.32sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.32sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.32sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008265 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008265 ms (missed cycles : 2).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671203 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671203 ms (missed cycles : 2).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 17.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 19.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.95sINFOobjective_server_nodecaller: ×10 + 19.95sINFOobjective_server_nodetype: 0 ×10 + 19.95sINFOobjective_server_nodename: "" ×10 + 19.95sINFOobjective_server_nodeinstance_id: "" ×10 + 19.95sINFOobjective_server_node ×10 + 20.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 20.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 20.00sINFOmove_groupClearing octomap...[0m ×4 + 20.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 20.00sINFOmove_groupOctomap cleared.[0m ×4 + 20.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 20.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 20.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 20.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 21.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 21.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 21.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.95sINFOobjective_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 + 21.95sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 21.95sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 21.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 21.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 22.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 22.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 22.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 22.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 22.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 22.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 22.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 22.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 22.59sINFOros2_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 1.671203 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671203 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.36sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.37sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.37sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.38sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.38sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.43sINFOobjective_server_nodecaller: ×10 + 3.43sINFOobjective_server_nodetype: 0 ×10 + 3.43sINFOobjective_server_nodename: "" ×10 + 3.43sINFOobjective_server_nodeinstance_id: "" ×10 + 3.43sINFOobjective_server_node ×10 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.48sINFOmove_groupClearing octomap...[0m ×4 + 3.48sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×4 + 3.48sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_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 + 5.43sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 6.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass28 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 65.5s | 3 errors · 233 warnings · 266 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.386ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658199 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658199 ms (missed cycles : 3).[0m ×2 + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.489ms + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.389ms + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645043 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645043 ms (missed cycles : 2).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864530 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864530 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOjoint_trajectory_controllerGot request to cancel goal + 3.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.04sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sERRORobjective_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: 1791699662.97274017 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1791699662991626667, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.348ms + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-0.63, 3.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-1.53, 3.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791699663.57320595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.246ms + 3.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.89sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.89sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567887, y=-0.0171791, yaw=-0.0183891 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884407 ms (missed cycles : 3). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884407 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (6.02e-07 s). ×2 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.947ms + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570043 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570043 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452148 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452148 ms (missed cycles : 3).[0m ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.34sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.34sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.34sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.34sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491624 ms (missed cycles : 4). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491624 ms (missed cycles : 4).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878937 ms (missed cycles : 3). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878937 ms (missed cycles : 3).[0m ×2 + 8.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.587ms + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983164 ms (missed cycles : 2). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983164 ms (missed cycles : 2).[0m ×2 + 9.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.119ms + 10.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.607ms + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248823 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248823 ms (missed cycles : 3).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.495ms + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602673 ms (missed cycles : 3). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602673 ms (missed cycles : 3).[0m ×2 + 11.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.040ms + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821711 ms (missed cycles : 3). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821711 ms (missed cycles : 3).[0m ×2 + 12.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.897ms + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018790 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018790 ms (missed cycles : 2).[0m ×2 + 13.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.131ms + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779846 ms (missed cycles : 2). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779846 ms (missed cycles : 2).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.913ms + 15.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.640ms + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356944 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356944 ms (missed cycles : 2).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.838ms + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338516 ms (missed cycles : 4). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338516 ms (missed cycles : 4).[0m ×2 + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.568ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063479 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063479 ms (missed cycles : 2).[0m ×2 + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.669ms + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857028 ms (missed cycles : 2). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857028 ms (missed cycles : 2).[0m ×2 + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.151ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934634 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934634 ms (missed cycles : 2).[0m ×2 + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.542ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.292ms + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732649 ms (missed cycles : 2). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732649 ms (missed cycles : 2).[0m ×2 + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.439ms + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.728ms + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553138 ms (missed cycles : 3). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553138 ms (missed cycles : 3).[0m ×2 + 22.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.798ms + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275933 ms (missed cycles : 4). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275933 ms (missed cycles : 4).[0m ×2 + 23.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.189ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759484 ms (missed cycles : 5). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759484 ms (missed cycles : 5).[0m ×2 + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.475ms + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542253 ms (missed cycles : 2). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542253 ms (missed cycles : 2).[0m ×2 + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.824ms + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940710 ms (missed cycles : 5). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940710 ms (missed cycles : 5).[0m ×2 + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.360ms + 27.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.059ms + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484259 ms (missed cycles : 4). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484259 ms (missed cycles : 4).[0m ×2 + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.150ms + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709212 ms (missed cycles : 3). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709212 ms (missed cycles : 3).[0m ×2 + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.749ms + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922638 ms (missed cycles : 4). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922638 ms (missed cycles : 4).[0m ×2 + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.223ms + 30.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701210 ms (missed cycles : 3). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701210 ms (missed cycles : 3).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.489ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.079ms + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934204 ms (missed cycles : 4). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934204 ms (missed cycles : 4).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.661ms + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161001 ms (missed cycles : 5). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161001 ms (missed cycles : 5).[0m ×2 + 33.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.740ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588820 ms (missed cycles : 2). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588820 ms (missed cycles : 2).[0m ×2 + 34.71sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.71sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.938ms + 35.01sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761883 ms (missed cycles : 5). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761883 ms (missed cycles : 5).[0m ×2 + 35.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 35.96sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708378 ms (missed cycles : 3). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708378 ms (missed cycles : 3).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399206 ms (missed cycles : 3). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399206 ms (missed cycles : 3).[0m ×2 + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798887 ms (missed cycles : 3). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798887 ms (missed cycles : 3).[0m ×2 + 38.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.957ms + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764233 ms (missed cycles : 2). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764233 ms (missed cycles : 2).[0m ×2 + 39.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.447ms + 39.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.374ms + 40.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.015ms + 40.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252018 ms (missed cycles : 2). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252018 ms (missed cycles : 2).[0m ×2 + 41.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.002ms + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897855 ms (missed cycles : 4). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897855 ms (missed cycles : 4).[0m ×2 + 42.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919056 ms (missed cycles : 2). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919056 ms (missed cycles : 2).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781124 ms (missed cycles : 2). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781124 ms (missed cycles : 2).[0m ×2 + 43.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.268ms + 45.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647408 ms (missed cycles : 3). + 45.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647408 ms (missed cycles : 3).[0m ×2 + 45.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.160ms + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533370 ms (missed cycles : 3). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533370 ms (missed cycles : 3).[0m ×2 + 46.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.884ms + 47.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142081 ms (missed cycles : 2). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142081 ms (missed cycles : 2).[0m ×2 + 47.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.353ms + 47.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.553ms + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274276 ms (missed cycles : 3). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274276 ms (missed cycles : 3).[0m ×2 + 48.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.364ms + 49.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.081ms + 49.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151874 ms (missed cycles : 3). + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151874 ms (missed cycles : 3).[0m ×2 + 49.71sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034879 ms (missed cycles : 2). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034879 ms (missed cycles : 2).[0m ×2 + 51.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654695 ms (missed cycles : 3). + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654695 ms (missed cycles : 3).[0m ×2 + 52.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109579 ms (missed cycles : 3). + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109579 ms (missed cycles : 3).[0m ×2 + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846787 ms (missed cycles : 3). + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846787 ms (missed cycles : 3).[0m ×2 + 53.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.859ms + 54.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.167ms + 54.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781980 ms (missed cycles : 2). + 54.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781980 ms (missed cycles : 2).[0m ×2 + 54.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.671ms + 55.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.598ms + 55.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.026ms + 55.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218454 ms (missed cycles : 4). + 55.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218454 ms (missed cycles : 4).[0m ×2 + 56.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.804ms + 56.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085130 ms (missed cycles : 4). + 56.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085130 ms (missed cycles : 4).[0m ×2 + 57.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689037 ms (missed cycles : 3). + 57.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689037 ms (missed cycles : 3).[0m ×2 + 57.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.315ms + 58.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.061ms + 58.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164961 ms (missed cycles : 3). + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164961 ms (missed cycles : 3).[0m ×2 + 59.26sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 59.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475008 ms (missed cycles : 3). + 59.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475008 ms (missed cycles : 3).[0m ×2 + 60.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360814 ms (missed cycles : 5). + 60.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360814 ms (missed cycles : 5).[0m ×2 + 61.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180860 ms (missed cycles : 4). + 61.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180860 ms (missed cycles : 4).[0m ×2 + 62.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643382 ms (missed cycles : 2). + 62.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643382 ms (missed cycles : 2).[0m ×2 + 63.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.093ms + 63.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822324 ms (missed cycles : 3). + 63.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822324 ms (missed cycles : 3).[0m ×2 + 64.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473182 ms (missed cycles : 3). + 64.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473182 ms (missed cycles : 3).[0m ×2 + 64.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.652ms + 65.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.946ms + 66.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743196 ms (missed cycles : 3). + 66.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743196 ms (missed cycles : 3).[0m ×2 + 66.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.127ms + 66.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.293ms + 67.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437965 ms (missed cycles : 2). + 67.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437965 ms (missed cycles : 2).[0m ×2 + 67.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.367ms + 67.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.438ms + 68.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188586 ms (missed cycles : 4). + 68.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188586 ms (missed cycles : 4).[0m ×2 + 68.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.454ms + 68.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791699728.46337628 seconds ×3 + 68.60sINFOstate_estimatorReceived a set_pose request (stamp: 1791699728483009025, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 68.65sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.60) is out of map bounds (-3.95, 3.55) to (1.03, 8.53). The costmap cannot raytrace for it. + 68.65sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.42) is out of map bounds (-3.95, 3.55) to (1.03, 8.53). The costmap cannot raytrace for it. + 68.75sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.60) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 68.75sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.42) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 68.85sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.85sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.830ms + 69.05sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 69.05sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 69.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353110 ms (missed cycles : 2). + 69.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353110 ms (missed cycles : 2).[0m ×2 + 69.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 69.11sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791699729.04979134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.366ms + 69.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567845, y=-0.0171792, yaw=-0.0183891 + 69.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.194ms + 70.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379767 ms (missed cycles : 2). + 70.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379767 ms (missed cycles : 2).[0m ×2 + 71.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510101 ms (missed cycles : 4). + 71.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510101 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.3s | 190 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.63sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.03sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.03sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916384 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916384 ms (missed cycles : 3).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983707 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983707 ms (missed cycles : 2).[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.009ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023056 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023056 ms (missed cycles : 2).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.273ms + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286277 ms (missed cycles : 4). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286277 ms (missed cycles : 4).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.266ms + 10.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.158ms + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161935 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161935 ms (missed cycles : 3).[0m ×2 + 11.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.476ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764635 ms (missed cycles : 5). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764635 ms (missed cycles : 5).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.338ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946666 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946666 ms (missed cycles : 3).[0m ×2 + 13.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.351ms + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770266 ms (missed cycles : 3). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770266 ms (missed cycles : 3).[0m ×2 + 14.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.328ms + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204132 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204132 ms (missed cycles : 2).[0m ×2 + 15.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.588ms + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.361ms + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167915 ms (missed cycles : 4). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167915 ms (missed cycles : 4).[0m ×2 + 17.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.773ms + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450753 ms (missed cycles : 4). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450753 ms (missed cycles : 4).[0m ×2 + 17.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.228ms + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582757 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582757 ms (missed cycles : 3).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.015ms + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526097 ms (missed cycles : 3). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526097 ms (missed cycles : 3).[0m ×2 + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.305ms + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823903 ms (missed cycles : 2). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823903 ms (missed cycles : 2).[0m ×2 + 20.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.940ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040966 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040966 ms (missed cycles : 2).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.789ms + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604346 ms (missed cycles : 4). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604346 ms (missed cycles : 4).[0m ×2 + 23.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.990ms + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422382 ms (missed cycles : 4). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422382 ms (missed cycles : 4).[0m ×2 + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.964ms + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630509 ms (missed cycles : 3). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630509 ms (missed cycles : 3).[0m ×2 + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.436ms + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187173 ms (missed cycles : 4). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187173 ms (missed cycles : 4).[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.846ms + 27.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722689 ms (missed cycles : 3). + 27.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722689 ms (missed cycles : 3).[0m ×2 + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.795ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.885ms + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576491 ms (missed cycles : 3). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576491 ms (missed cycles : 3).[0m ×2 + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.083ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833212 ms (missed cycles : 2). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833212 ms (missed cycles : 2).[0m ×2 + 29.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.501ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711053 ms (missed cycles : 2). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711053 ms (missed cycles : 2).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.925ms + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087807 ms (missed cycles : 2). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087807 ms (missed cycles : 2).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.088ms + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370842 ms (missed cycles : 3). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370842 ms (missed cycles : 3).[0m ×2 + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.790ms + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134053 ms (missed cycles : 2). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134053 ms (missed cycles : 2).[0m ×2 + 33.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.811ms + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933448 ms (missed cycles : 2). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933448 ms (missed cycles : 2).[0m ×2 + 34.44sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.486ms + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682636 ms (missed cycles : 3). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682636 ms (missed cycles : 3).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138670 ms (missed cycles : 3). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138670 ms (missed cycles : 3).[0m ×2 + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893358 ms (missed cycles : 3). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893358 ms (missed cycles : 3).[0m ×2 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683683 ms (missed cycles : 3). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683683 ms (missed cycles : 3).[0m ×2 + 39.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685234 ms (missed cycles : 2). + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685234 ms (missed cycles : 2).[0m ×2 + 40.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602790 ms (missed cycles : 3). + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602790 ms (missed cycles : 3).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.814ms + 41.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766437 ms (missed cycles : 4). + 41.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766437 ms (missed cycles : 4).[0m ×2 + 42.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451344 ms (missed cycles : 6). + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451344 ms (missed cycles : 6).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743737 ms (missed cycles : 2). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743737 ms (missed cycles : 2).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807103 ms (missed cycles : 2). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807103 ms (missed cycles : 2).[0m ×2 + 44.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.956ms + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777762 ms (missed cycles : 2). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777762 ms (missed cycles : 2).[0m ×2 + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976312 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976312 ms (missed cycles : 2).[0m ×2 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900862 ms (missed cycles : 2). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900862 ms (missed cycles : 2).[0m ×2 + 48.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.499ms + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881649 ms (missed cycles : 3). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881649 ms (missed cycles : 3).[0m ×2 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305822 ms (missed cycles : 2). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305822 ms (missed cycles : 2).[0m ×2 + 51.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635617 ms (missed cycles : 3). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635617 ms (missed cycles : 3).[0m ×2 + 51.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.021ms + 52.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020802 ms (missed cycles : 2). + 52.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020802 ms (missed cycles : 2).[0m ×2 + 53.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391941 ms (missed cycles : 3). + 53.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391941 ms (missed cycles : 3).[0m ×2 + 54.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253255 ms (missed cycles : 3). + 54.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253255 ms (missed cycles : 3).[0m ×2 + 55.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.300ms + 55.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841527 ms (missed cycles : 2). + 55.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841527 ms (missed cycles : 2).[0m ×2 + 56.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503020 ms (missed cycles : 3). + 56.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503020 ms (missed cycles : 3).[0m ×2 + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282526 ms (missed cycles : 2). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282526 ms (missed cycles : 2).[0m ×2 + 58.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521712 ms (missed cycles : 3). + 58.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521712 ms (missed cycles : 3).[0m ×2 + 59.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.194ms + 59.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543661 ms (missed cycles : 3). + 59.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543661 ms (missed cycles : 3).[0m ×2 + 60.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791699792.31320167 seconds ×3 + 60.06sINFOstate_estimatorReceived a set_pose request (stamp: 1791699792331440065, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.07sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.00, 2.90) to (0.98, 7.88). The costmap cannot raytrace for it. + 60.07sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.00, 2.90) to (0.98, 7.88). The costmap cannot raytrace for it. + 60.17sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-4.00, 2.90) to (0.98, 7.88). The costmap cannot raytrace for it. + 60.17sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-4.00, 2.90) to (0.98, 7.88). The costmap cannot raytrace for it. + 60.27sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.27sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.564ms + 60.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791699792.91632915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498459 ms (missed cycles : 4). + 60.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498459 ms (missed cycles : 4).[0m ×2 + 61.00sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 61.34sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899095 ms (missed cycles : 3). + 61.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899095 ms (missed cycles : 3).[0m ×2 + 62.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 62.17sINFOamclInitializing particles from estimated pose and covariance + 62.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 62.18sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548774, y=-0.0165933, yaw=-0.0171817 + 62.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.306ms + 62.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642540 ms (missed cycles : 3). + 62.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642540 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 192 warnings · 219 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.230ms + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.840ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.296ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.428ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284846 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284846 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.331ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.054ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597309 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597309 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.370ms + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.390ms + 2.79sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.80sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791699504.11604643 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.86sINFOstate_estimatorReceived a set_pose request (stamp: 1791699504136632386, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791699504.71086526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831973 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831973 ms (missed cycles : 2).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 5.678ms + 3.57sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.57sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.57sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.57sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568099, y=-0.0171787, yaw=-0.0183892 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.704ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528468 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528468 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925157 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925157 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778739 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778739 ms (missed cycles : 3).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225023 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225023 ms (missed cycles : 2).[0m ×2 + 8.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.427ms + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129766 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129766 ms (missed cycles : 2).[0m ×2 + 8.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.411ms ×2 + 9.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.243ms + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432431 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432431 ms (missed cycles : 3).[0m ×2 + 10.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.577ms + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613290 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613290 ms (missed cycles : 2).[0m ×2 + 11.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.337ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720180 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720180 ms (missed cycles : 3).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.449ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403703 ms (missed cycles : 4). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403703 ms (missed cycles : 4).[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.829ms + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100871 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100871 ms (missed cycles : 2).[0m ×2 + 14.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.039ms + 15.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.360ms + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776677 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776677 ms (missed cycles : 2).[0m ×2 + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.907ms + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741154 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741154 ms (missed cycles : 2).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.318ms + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013335 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013335 ms (missed cycles : 2).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.376ms + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269299 ms (missed cycles : 3). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269299 ms (missed cycles : 3).[0m ×2 + 18.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.258ms + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967351 ms (missed cycles : 2). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967351 ms (missed cycles : 2).[0m ×2 + 19.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.007ms + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.738ms + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527832 ms (missed cycles : 3). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527832 ms (missed cycles : 3).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.453ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759680 ms (missed cycles : 3). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759680 ms (missed cycles : 3).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.019ms + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286330 ms (missed cycles : 2). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286330 ms (missed cycles : 2).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.557ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163926 ms (missed cycles : 3). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163926 ms (missed cycles : 3).[0m ×2 + 23.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.902ms + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798049 ms (missed cycles : 3). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798049 ms (missed cycles : 3).[0m ×2 + 24.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.846ms + 25.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.097ms + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713397 ms (missed cycles : 3). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713397 ms (missed cycles : 3).[0m ×2 + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.412ms + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343100 ms (missed cycles : 2). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343100 ms (missed cycles : 2).[0m ×2 + 27.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.856ms + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720579 ms (missed cycles : 3). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720579 ms (missed cycles : 3).[0m ×2 + 28.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.262ms + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492936 ms (missed cycles : 3). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492936 ms (missed cycles : 3).[0m ×2 + 29.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.351ms + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278916 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278916 ms (missed cycles : 2).[0m ×2 + 30.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.273ms + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230576 ms (missed cycles : 2). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230576 ms (missed cycles : 2).[0m ×2 + 31.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.199ms + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674959 ms (missed cycles : 5). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674959 ms (missed cycles : 5).[0m ×2 + 32.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.179ms + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747806 ms (missed cycles : 2). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747806 ms (missed cycles : 2).[0m ×2 + 33.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.383ms + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434032 ms (missed cycles : 3). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434032 ms (missed cycles : 3).[0m ×2 + 34.50sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208968 ms (missed cycles : 4). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208968 ms (missed cycles : 4).[0m ×2 + 36.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.321ms + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984419 ms (missed cycles : 2). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984419 ms (missed cycles : 2).[0m ×2 + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037770 ms (missed cycles : 2). + 37.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037770 ms (missed cycles : 2).[0m ×2 + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657761 ms (missed cycles : 3). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657761 ms (missed cycles : 3).[0m ×2 + 39.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.122ms + 39.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830493 ms (missed cycles : 3). + 39.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830493 ms (missed cycles : 3).[0m ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989241 ms (missed cycles : 2). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989241 ms (missed cycles : 2).[0m ×2 + 41.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.740ms + 42.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.805ms + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762431 ms (missed cycles : 3). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762431 ms (missed cycles : 3).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667039 ms (missed cycles : 5). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667039 ms (missed cycles : 5).[0m ×2 + 44.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414094 ms (missed cycles : 2). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414094 ms (missed cycles : 2).[0m ×2 + 44.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.338ms + 45.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307088 ms (missed cycles : 4). + 45.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307088 ms (missed cycles : 4).[0m ×2 + 45.46sWARNros2_control_nodeCamera render tick took 0.59 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 + 45.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.267ms + 45.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 46.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139797 ms (missed cycles : 2). + 46.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139797 ms (missed cycles : 2).[0m ×2 + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247464 ms (missed cycles : 2). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247464 ms (missed cycles : 2).[0m ×2 + 47.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.263ms + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.541ms + 48.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028856 ms (missed cycles : 2). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028856 ms (missed cycles : 2).[0m ×2 + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165668 ms (missed cycles : 2). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165668 ms (missed cycles : 2).[0m ×2 + 50.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964011 ms (missed cycles : 3). + 50.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964011 ms (missed cycles : 3).[0m ×2 + 51.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.361ms + 51.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514443 ms (missed cycles : 2). + 51.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514443 ms (missed cycles : 2).[0m ×2 + 52.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.379ms + 53.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699017 ms (missed cycles : 3). + 53.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699017 ms (missed cycles : 3).[0m ×2 + 54.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485912 ms (missed cycles : 4). + 54.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485912 ms (missed cycles : 4).[0m ×2 + 54.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.906ms + 55.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780706 ms (missed cycles : 3). + 55.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780706 ms (missed cycles : 3).[0m ×2 + 55.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.808ms + 56.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097719 ms (missed cycles : 4). + 56.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097719 ms (missed cycles : 4).[0m ×2 + 57.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2). + 57.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2).[0m ×2 + 58.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4). + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4).[0m ×2 + 59.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 59.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3). + 59.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3).[0m ×2 + 60.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699561.40102553 seconds ×3 + 60.15sINFOstate_estimatorReceived a set_pose request (stamp: 1791699561425391959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.16sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 60.16sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.880ms + 60.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2). + 60.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2).[0m ×2 + 60.71sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699561.99987888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.12sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 61.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2). + 61.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2).[0m ×2 + 62.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 62.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 62.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550053, y=-0.0166478, yaw=-0.0173086 + 62.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.069ms + 62.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2).[0m ×2 + 63.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3). + 63.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.6s | 191 warnings · 225 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.102ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.173ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440870 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440870 ms (missed cycles : 4).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.629ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080469 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080469 ms (missed cycles : 3).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.58sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.62sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791699600.39189982 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.64sINFOstate_estimatorReceived a set_pose request (stamp: 1791699600411495298, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.10) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.13) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.19) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.88sWARNlocal_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. ×3 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880875 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880875 ms (missed cycles : 2).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.522ms + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.16sINFOobjective_server_nodecaller: ×4 + 3.16sINFOobjective_server_nodetype: 0 ×4 + 3.16sINFOobjective_server_nodename: "" ×4 + 3.16sINFOobjective_server_nodeinstance_id: "" ×4 + 3.16sINFOobjective_server_node ×4 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791699600.98407173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (5.66e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686383 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686383 ms (missed cycles : 3).[0m ×2 + 4.76sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.76sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.76sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.378ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455572 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455572 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.74sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.74sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.74sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849470 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849470 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927047 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927047 ms (missed cycles : 2).[0m ×2 + 8.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.647ms + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099442 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099442 ms (missed cycles : 2).[0m ×2 + 8.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.749ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.748283 ms (missed cycles : 4). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.748283 ms (missed cycles : 4).[0m ×2 + 9.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.873ms + 10.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.144ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898602 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898602 ms (missed cycles : 2).[0m ×2 + 11.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.067ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379705 ms (missed cycles : 4). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379705 ms (missed cycles : 4).[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.641ms ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748186 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748186 ms (missed cycles : 3).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.835ms + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762032 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762032 ms (missed cycles : 3).[0m ×2 + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.535ms + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.742ms + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948156 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948156 ms (missed cycles : 2).[0m ×2 + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.489ms + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509801 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509801 ms (missed cycles : 3).[0m ×2 + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.662ms + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169127 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169127 ms (missed cycles : 2).[0m ×2 + 18.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.160ms + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928332 ms (missed cycles : 3). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928332 ms (missed cycles : 3).[0m ×2 + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.687ms + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718072 ms (missed cycles : 2). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718072 ms (missed cycles : 2).[0m ×2 + 19.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.222ms + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196095 ms (missed cycles : 2). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196095 ms (missed cycles : 2).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.390ms + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.887185 ms (missed cycles : 5). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.887185 ms (missed cycles : 5).[0m ×2 + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.167ms + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.117ms + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931890 ms (missed cycles : 3). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931890 ms (missed cycles : 3).[0m ×2 + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.794ms + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767164 ms (missed cycles : 3). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767164 ms (missed cycles : 3).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.633ms + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694971 ms (missed cycles : 2). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694971 ms (missed cycles : 2).[0m ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.607ms + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.859ms + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311368 ms (missed cycles : 4). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311368 ms (missed cycles : 4).[0m ×2 + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.985ms + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627020 ms (missed cycles : 3). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627020 ms (missed cycles : 3).[0m ×2 + 27.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.759ms + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771670 ms (missed cycles : 2). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771670 ms (missed cycles : 2).[0m ×2 + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.029ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.873ms + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921972 ms (missed cycles : 3). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921972 ms (missed cycles : 3).[0m ×2 + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.043ms + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903746 ms (missed cycles : 3). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903746 ms (missed cycles : 3).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.946ms + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421042 ms (missed cycles : 3). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421042 ms (missed cycles : 3).[0m ×2 + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.146ms + 31.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167984 ms (missed cycles : 2). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167984 ms (missed cycles : 2).[0m ×2 + 32.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.125ms + 32.31sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176198 ms (missed cycles : 2). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176198 ms (missed cycles : 2).[0m ×2 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.900ms + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619962 ms (missed cycles : 3). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619962 ms (missed cycles : 3).[0m ×2 + 34.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.053ms + 35.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015154 ms (missed cycles : 3). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015154 ms (missed cycles : 3).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620505 ms (missed cycles : 3). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620505 ms (missed cycles : 3).[0m ×2 + 36.83sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.54sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712166 ms (missed cycles : 3). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712166 ms (missed cycles : 3).[0m ×2 + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196765 ms (missed cycles : 5). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196765 ms (missed cycles : 5).[0m ×2 + 39.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366923 ms (missed cycles : 4). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366923 ms (missed cycles : 4).[0m ×2 + 39.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.985ms + 40.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.435ms + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725384 ms (missed cycles : 3). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725384 ms (missed cycles : 3).[0m ×2 + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.491ms + 41.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.167ms + 41.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807729 ms (missed cycles : 4). + 41.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807729 ms (missed cycles : 4).[0m ×2 + 42.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.883ms + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812581 ms (missed cycles : 2). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812581 ms (missed cycles : 2).[0m ×2 + 43.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.283ms + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310440 ms (missed cycles : 4). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310440 ms (missed cycles : 4).[0m ×2 + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676882 ms (missed cycles : 3). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676882 ms (missed cycles : 3).[0m ×2 + 45.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.779ms + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804511 ms (missed cycles : 3). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804511 ms (missed cycles : 3).[0m ×2 + 46.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.396ms + 46.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.921ms + 47.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.800ms + 47.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866820 ms (missed cycles : 2). + 47.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866820 ms (missed cycles : 2).[0m ×2 + 47.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.096ms + 47.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.924ms + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664170 ms (missed cycles : 3). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664170 ms (missed cycles : 3).[0m ×2 + 48.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.491ms + 48.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.993ms + 49.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602299 ms (missed cycles : 3). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602299 ms (missed cycles : 3).[0m ×2 + 49.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.619ms + 50.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.247ms + 50.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006837 ms (missed cycles : 3). + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006837 ms (missed cycles : 3).[0m ×2 + 51.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826546 ms (missed cycles : 2). + 51.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826546 ms (missed cycles : 2).[0m ×2 + 52.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221240 ms (missed cycles : 2). + 52.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221240 ms (missed cycles : 2).[0m ×2 + 52.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.778ms + 53.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.622ms + 53.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346074 ms (missed cycles : 2). + 53.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346074 ms (missed cycles : 2).[0m ×2 + 54.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791699651.98423624 seconds ×3 + 54.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791699652004976753, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 54.38sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 54.38sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 54.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316945 ms (missed cycles : 2). + 54.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316945 ms (missed cycles : 2).[0m ×2 + 54.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.784ms + 54.68sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 10.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 54.68sWARNlocal_costmap.local_costmapSensor origin at (-2.72, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 54.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 54.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 54.81sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791699652.58351827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.217ms + 55.09sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056773, y=-0.0171794, yaw=-0.0183891 + 55.26sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 55.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 17.937ms + 55.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482814 ms (missed cycles : 3). + 55.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482814 ms (missed cycles : 3).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285392 ms (missed cycles : 2). + 56.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285392 ms (missed cycles : 2).[0m ×2 + 57.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270836 ms (missed cycles : 2). + 57.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270836 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 144 warnings · 427 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.01sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.01sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.07sINFOobjective_server_nodecaller: ×12 + 1.07sINFOobjective_server_nodetype: 0 ×12 + 1.07sINFOobjective_server_nodename: "" ×12 + 1.07sINFOobjective_server_nodeinstance_id: "" ×12 + 1.07sINFOobjective_server_node ×12 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_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 + 3.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031144 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031144 ms (missed cycles : 2).[0m ×2 + 7.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.968ms + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574015 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574015 ms (missed cycles : 2).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716428 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716428 ms (missed cycles : 2).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581834 ms (missed cycles : 4). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581834 ms (missed cycles : 4).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055916 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055916 ms (missed cycles : 2).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340412 ms (missed cycles : 3). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340412 ms (missed cycles : 3).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793144 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793144 ms (missed cycles : 2).[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742062 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742062 ms (missed cycles : 2).[0m ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403097 ms (missed cycles : 4). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403097 ms (missed cycles : 4).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983957 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983957 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728519 ms (missed cycles : 4). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728519 ms (missed cycles : 4).[0m ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627247 ms (missed cycles : 3). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627247 ms (missed cycles : 3).[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991396 ms (missed cycles : 4). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991396 ms (missed cycles : 4).[0m ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542807 ms (missed cycles : 3). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542807 ms (missed cycles : 3).[0m ×2 + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508642 ms (missed cycles : 2). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508642 ms (missed cycles : 2).[0m ×2 + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075887 ms (missed cycles : 2). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075887 ms (missed cycles : 2).[0m ×2 + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.015ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023565 ms (missed cycles : 2). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023565 ms (missed cycles : 2).[0m ×2 + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692580 ms (missed cycles : 2). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692580 ms (missed cycles : 2).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745416 ms (missed cycles : 2). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745416 ms (missed cycles : 2).[0m ×2 + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689165 ms (missed cycles : 2). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689165 ms (missed cycles : 2).[0m ×2 + 28.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539029 ms (missed cycles : 3). + 28.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539029 ms (missed cycles : 3).[0m ×2 + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736869 ms (missed cycles : 2). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736869 ms (missed cycles : 2).[0m ×2 + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297735 ms (missed cycles : 2). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297735 ms (missed cycles : 2).[0m ×2 + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228965 ms (missed cycles : 4). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228965 ms (missed cycles : 4).[0m ×2 + 32.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835862 ms (missed cycles : 3). + 32.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835862 ms (missed cycles : 3).[0m ×2 + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040790 ms (missed cycles : 2). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040790 ms (missed cycles : 2).[0m ×2 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417979 ms (missed cycles : 3). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417979 ms (missed cycles : 3).[0m ×2 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462331 ms (missed cycles : 3). + 35.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462331 ms (missed cycles : 3).[0m ×2 + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920069 ms (missed cycles : 2). + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920069 ms (missed cycles : 2).[0m ×2 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642056 ms (missed cycles : 2). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642056 ms (missed cycles : 2).[0m ×2 + 37.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.100ms + 38.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640834 ms (missed cycles : 2). + 38.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640834 ms (missed cycles : 2).[0m ×2 + 39.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651980 ms (missed cycles : 2). + 39.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651980 ms (missed cycles : 2).[0m ×2 + 40.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229994 ms (missed cycles : 4). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229994 ms (missed cycles : 4).[0m ×2 + 41.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122664 ms (missed cycles : 2). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122664 ms (missed cycles : 2).[0m ×2 + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795944 ms (missed cycles : 3). + 42.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795944 ms (missed cycles : 3).[0m ×2 + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244004 ms (missed cycles : 3). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244004 ms (missed cycles : 3).[0m ×2 + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576701 ms (missed cycles : 3). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576701 ms (missed cycles : 3).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504190 ms (missed cycles : 2). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504190 ms (missed cycles : 2).[0m ×2 + 46.70sINFOjoint_trajectory_controllerGoal reached, success! + 46.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699498.03784871 seconds ×3 + 46.77sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.77sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.78sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.79sINFOstate_estimatorReceived a set_pose request (stamp: 1791699498058172158, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869978 ms (missed cycles : 2). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869978 ms (missed cycles : 2).[0m ×2 + 47.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.229ms + 47.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.30sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699498.62588239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642327 ms (missed cycles : 3). + 48.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642327 ms (missed cycles : 3).[0m ×2 + 48.39sINFOobjective_server_nodeFound path in 0 iterations (2.3783e-05 s). ×2 + 48.45sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.04, -0.02, 0.6 deg) + 48.90sINFOamclInitializing particles from estimated pose and covariance + 48.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.04, -0.02, 0.6 deg)[0m ×2 + 48.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0428169, y=-0.0247719, yaw=0.0104869 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408406 ms (missed cycles : 2). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408406 ms (missed cycles : 2).[0m ×2 + 49.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.068ms + 49.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.170ms + 50.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.230ms + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5).[0m ×2 + 50.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.840ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.5s | 118 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522726 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522726 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800112 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800112 ms (missed cycles : 3).[0m ×2 + 1.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.61sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791699567.85001183 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478084 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478084 ms (missed cycles : 2).[0m ×2 + 2.62sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.15sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.15sINFOobjective_server_nodecaller: ×4 + 3.15sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791699569.44176555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232754 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232754 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (6.44e-07 s). ×2 + 3.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887819 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887819 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170065 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170065 ms (missed cycles : 2).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.74sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.74sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933251 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933251 ms (missed cycles : 2).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083035 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083035 ms (missed cycles : 2).[0m ×2 + 8.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.040ms + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440710 ms (missed cycles : 3). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440710 ms (missed cycles : 3).[0m ×2 + 9.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.035ms + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727345 ms (missed cycles : 3). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727345 ms (missed cycles : 3).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.156ms + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.127ms + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449636 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449636 ms (missed cycles : 3).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.341ms + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362719 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362719 ms (missed cycles : 2).[0m ×2 + 12.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.655ms + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814054 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814054 ms (missed cycles : 2).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.006ms + 14.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.692ms + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867691 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867691 ms (missed cycles : 2).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.521ms + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015782 ms (missed cycles : 3). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015782 ms (missed cycles : 3).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.980ms + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444951 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444951 ms (missed cycles : 2).[0m ×2 + 17.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.463ms + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833551 ms (missed cycles : 3). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833551 ms (missed cycles : 3).[0m ×2 + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.561ms + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.950ms + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332118 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332118 ms (missed cycles : 2).[0m ×2 + 19.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.661ms + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020992 ms (missed cycles : 2). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020992 ms (missed cycles : 2).[0m ×2 + 20.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.043ms + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615757 ms (missed cycles : 3). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615757 ms (missed cycles : 3).[0m ×2 + 21.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.427ms + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.191ms + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664555 ms (missed cycles : 3). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664555 ms (missed cycles : 3).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.703ms + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.215100 ms (missed cycles : 5). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.215100 ms (missed cycles : 5).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.692ms + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621281 ms (missed cycles : 3). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621281 ms (missed cycles : 3).[0m ×2 + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.862ms + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593570 ms (missed cycles : 3). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593570 ms (missed cycles : 3).[0m ×2 + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.167ms + 26.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.156ms + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237497 ms (missed cycles : 4). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237497 ms (missed cycles : 4).[0m ×2 + 27.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.016ms + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441035 ms (missed cycles : 4). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441035 ms (missed cycles : 4).[0m ×2 + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.094ms + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876707 ms (missed cycles : 2). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876707 ms (missed cycles : 2).[0m ×2 + 28.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.986ms + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378017 ms (missed cycles : 2). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378017 ms (missed cycles : 2).[0m ×2 + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.411ms + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533092 ms (missed cycles : 3). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533092 ms (missed cycles : 3).[0m ×2 + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.176ms + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.102ms + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2).[0m ×2 + 32.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.173ms + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440870 ms (missed cycles : 4). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440870 ms (missed cycles : 4).[0m ×2 + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.629ms + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080469 ms (missed cycles : 3). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080469 ms (missed cycles : 3).[0m ×2 + 34.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791699600.39189982 seconds ×3 + 34.18sINFOstate_estimatorReceived a set_pose request (stamp: 1791699600411495298, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.21sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.10) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 34.21sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.13) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 34.31sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 34.31sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.19) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 34.41sWARNlocal_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. ×3 + 34.41sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880875 ms (missed cycles : 2). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880875 ms (missed cycles : 2).[0m ×2 + 34.67sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.522ms + 34.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791699600.98407173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.14sINFOobjective_server_nodeFound path in 0 iterations (5.66e-07 s). ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686383 ms (missed cycles : 3). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686383 ms (missed cycles : 3).[0m ×2 + 36.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 36.30sINFOamclInitializing particles from estimated pose and covariance + 36.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 36.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 36.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.378ms + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455572 ms (missed cycles : 3). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455572 ms (missed cycles : 3).[0m ×2 + 37.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849470 ms (missed cycles : 2). + 37.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849470 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.1s | 73 warnings · 258 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282526 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282526 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521712 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521712 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.194ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543661 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543661 ms (missed cycles : 3).[0m ×2 + 2.45sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.45sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.47sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791699792.31320167 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.49sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.49sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.51sINFOstate_estimatorReceived a set_pose request (stamp: 1791699792331440065, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.25) is out of map bounds (-4.00, 2.90) to (0.98, 7.88). The costmap cannot raytrace for it. + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.27) is out of map bounds (-4.00, 2.90) to (0.98, 7.88). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-4.00, 2.90) to (0.98, 7.88). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-4.00, 2.90) to (0.98, 7.88). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.564ms + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791699792.91632915 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 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498459 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498459 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.80sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899095 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899095 ms (missed cycles : 3).[0m ×2 + 4.62sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.62sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.62sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.62sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548774, y=-0.0165933, yaw=-0.0171817 + 5.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.306ms + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642540 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642540 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836325 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836325 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743960 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743960 ms (missed cycles : 3).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645804 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645804 ms (missed cycles : 2).[0m ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (5.05e-07 s). ×2 + 9.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942397 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942397 ms (missed cycles : 3).[0m ×2 + 9.63sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.68sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 9.82sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 10.17sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 10.57sINFOobjective_server_nodeFound path in 33 iterations (0.0332303 s). ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671782 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671782 ms (missed cycles : 3).[0m ×2 + 11.01sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.08sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569128 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569128 ms (missed cycles : 2).[0m ×2 + 11.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.73sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 12.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.60sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201024 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201024 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731948 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731948 ms (missed cycles : 2).[0m ×2 + 14.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.647ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785425 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785425 ms (missed cycles : 2).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.813ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986516 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986516 ms (missed cycles : 2).[0m ×2 + 16.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.210ms + 16.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.664ms + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109198 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109198 ms (missed cycles : 2).[0m ×2 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.481ms + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736556 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736556 ms (missed cycles : 2).[0m ×2 + 18.60sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791699808.44291759 seconds ×3 + 18.64sINFOstate_estimatorReceived a set_pose request (stamp: 1791699808463170134, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791699809.06471491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.23sINFOmove_groupClearing octomap...[0m ×2 + 19.23sINFOmove_groupOctomap cleared.[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817726 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817726 ms (missed cycles : 2).[0m ×2 + 19.26sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.26sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.36sINFOamclParticle filter update iteration stats: 1735 particles 811 points - 6.818ms + 19.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 19.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 19.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568073, y=-0.0171788, yaw=-0.0183892 + 19.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791699809.60484552 seconds ×3 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.824ms + 20.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432730 ms (missed cycles : 3). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432730 ms (missed cycles : 3).[0m ×2 + 20.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791699810.18898892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791699810.84911513 seconds ×3 + 21.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001591 ms (missed cycles : 2). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001591 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.6s | 115 errors · 30 warnings · 582 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.664ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109198 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109198 ms (missed cycles : 2).[0m ×2 + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.481ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736556 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736556 ms (missed cycles : 2).[0m ×2 + 1.70sINFOjoint_trajectory_controllerGoal reached, success! + 1.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791699808.44291759 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.76sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.76sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.76sINFOstate_estimatorReceived a set_pose request (stamp: 1791699808463170134, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791699809.06471491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.35sINFOmove_groupClearing octomap...[0m ×2 + 2.35sINFOmove_groupOctomap cleared.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817726 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817726 ms (missed cycles : 2).[0m ×2 + 2.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1735 particles 811 points - 6.818ms + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.48sINFOamclInitializing particles from estimated pose and covariance + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568073, y=-0.0171788, yaw=-0.0183892 + 2.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791699809.60484552 seconds ×3 + 2.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.824ms + 3.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432730 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432730 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791699810.18898892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791699810.84911513 seconds ×3 + 4.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001591 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001591 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010164 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010164 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792337 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792337 ms (missed cycles : 2).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703652 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703652 ms (missed cycles : 2).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028375 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028375 ms (missed cycles : 4).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387912 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387912 ms (missed cycles : 2).[0m ×2 + 10.27sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.29sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORweb_video_auth_proxy-41process has died [pid 8153, 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 + 10.29sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.30sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORweb_bridge_auth_proxy-40process has died [pid 8136, 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 + 10.31sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.34sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.35sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.36sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.37sINFOvideo_server-39process has finished cleanly [pid 8134] ×2 + 10.37sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.39sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.39sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.41sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.42sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.43sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.44sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.45sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.46sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.47sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.48sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.50sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.51sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.52sINFOcontroller_managerShutdown request received.... + 10.52sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.52sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.52sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.52sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.52sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.52sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.52sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.52sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.52sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.52sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.52sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.52sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.52sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.52sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.52sINFOcontroller_managerShutting down the controller manager. + 10.53sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.54sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.55sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.56sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.56sERRORmove_group-25process has died [pid 8101, 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_tdu2sybu --params-file /tmp/launch_params_d3t3vy7l --params-file /tmp/launch_params_wes3wqca --params-file /tmp/launch_params_z4vvdzw0 --params-file /tmp/launch_params_q3ximy5y --params-file /tmp/launch_params_p9faracm']. ×2 + 10.57sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.58sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.59sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.60sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.61sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.62sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.63sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.63sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.63sINFOmap_serverDeactivating + 10.63sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.63sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.64sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.64sINFOcontroller_serverDeactivating + 10.64sINFOlocal_costmap.local_costmapDeactivating + 10.64sINFOvideo_server2026/10/11 06:23:37 INF shutting down gracefully ×2 + 10.64sINFOvideo_server2026/10/11 06:23:37 INF [WebRTC] closing ×2 + 10.64sINFOvideo_server2026/10/11 06:23:37 INF [RTSP] closing ×2 + 10.64sINFOvideo_server2026/10/11 06:23:37 INF waiting for running hooks ×2 + 10.64sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.64sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOmap_serverCleaning up + 10.64sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.64sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.64sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.64sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.64sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.64sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.64sERRORmove_groupStack trace (most recent call last) in thread 8758: ×2 + 10.64sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.64sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f60f8132cc3, in __clone ×2 + 10.64sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f60f80a5b83, in ×2 + 10.64sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f60f8336db3, in ×2 + 10.64sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f60f8a9ef14, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.64sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f60f86ca620, in rclcpp::Rate::sleep() ×2 + 10.64sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f60f860cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.64sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f60f85ce087, in ×2 + 10.64sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f60f8305390, in __cxa_throw ×2 + 10.64sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f60f82efa54, in std::terminate() ×2 + 10.64sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f60f83050d9, in ×2 + 10.64sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f60f82efff4, in ×2 + 10.64sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f60f80318fe, in abort ×2 + 10.64sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f60f804e27d, in raise ×2 + 10.64sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f60f80a7c0c, in pthread_kill ×2 + 10.64sERRORmove_groupAborted (Signal sent by tkill() 8101 0) ×2 + 10.64sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.64sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.64sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.64sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.64sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.64sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.64sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.65sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.65sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.65sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sERRORamclThe bond connection to the lifecycle manager has been broken + 10.73sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.73sINFOros2_control_nodepublish_async_failures_ 6[0m ×2 + 10.73sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.74sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.74sINFOcontroller_serverCleaning up + 10.75sINFOlocal_costmap.local_costmapCleaning up + 10.79sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.79sINFOsmoother_serverDeactivating + 10.79sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.80sINFOsmoother_serverCleaning up + 10.80sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.80sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.80sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.80sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.80sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.80sINFOvelocity_smootherDeactivating + 10.80sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.82sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.82sINFOplanner_serverDeactivating + 10.82sINFOglobal_costmap.global_costmapDeactivating + 11.01sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.01sINFOwaypoint_followerDeactivating + 11.01sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.21sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.21sINFObt_navigatorDeactivating + 11.21sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.32sINFObehavior_serverDeactivating + 11.32sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.35sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.35sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.40sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.40sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.40sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.40sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOjoint_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 + 11.40sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.40sINFOplanner_serverCleaning up + 11.40sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.40sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.40sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.40sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.40sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.40sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.40sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.40sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.40sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.40sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.40sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.41sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.41sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.41sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.41sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.41sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.41sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.41sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.41sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.41sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.41sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8133] ×2 + 11.41sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.41sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.41sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.41sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.41sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.41sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.41sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.41sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.41sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.41sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.41sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.42sINFOglobal_costmap.global_costmapCleaning up + 11.43sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.43sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.46sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.46sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.46sINFObt_navigatorCleaning up + 11.46sERRORjoint_state_visualization_relay-37process has died [pid 8132, 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_yt6iu94u']. ×2 + 11.46sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.47sERRORtf_visualization_relay-36process has died [pid 8131, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_n8enmetc']. ×2 + 11.48sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.51sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8112] ×2 + 11.52sINFOui_teleop_bridge-34process has finished cleanly [pid 8123] ×2 + 11.52sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.53sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.53sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8109] ×2 + 11.53sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.53sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.53sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.53sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.53sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.53sINFOexecute_objective_bridge-33process has finished cleanly [pid 8118] ×2 + 11.53sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.53sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.53sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.53sINFOvelocity_smootherCleaning up + 11.53sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.54sINFOwaypoint_followerCleaning up + 11.56sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.57sINFOparameter_manager_node-26process has finished cleanly [pid 8103] ×2 + 11.59sINFOwaypoint_manager_node-27process has finished cleanly [pid 8108] ×2 + 11.59sINFOrelay-11process has finished cleanly [pid 8041] ×2 + 11.59sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.59sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.59sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.59sINFObehavior_serverCleaning up + 11.60sINFOrelay-10process has finished cleanly [pid 8040] ×2 + 11.60sINFOcomponent_container_mt-32process has finished cleanly [pid 8115] ×2 + 11.61sINFObt_navigatorCompleted Cleaning up + 11.61sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.61sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.61sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.61sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7936] ×2 + 11.62sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8042] ×2 + 11.62sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7935] ×2 + 11.63sINFOstatic_transform_publisher-7process has finished cleanly [pid 7934] ×2 + 11.64sINFOstatic_transform_publisher-6process has finished cleanly [pid 7933] ×2 + 11.64sINFOobjective_server_node[2026-10-11 06:23:38.360] [moveit_pro_license] [critical] ×2 + 11.64sINFOobjective_server_node************************************************* ×4 + 11.64sINFOobjective_server_node* MoveIt Pro License ×2 + 11.64sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.64sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.64sINFOlidar_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 + 11.64sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.64sINFOlidar_flattener.pymain() ×2 + 11.64sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.64sINFOlidar_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 + 11.64sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.64sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.64sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.64sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.64sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.64sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.64sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.65sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.65sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.65sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.65sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.65sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.65sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.65sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.65sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.66sINFOstatic_transform_publisher-3process has finished cleanly [pid 7930] ×2 + 11.69sERRORlidar_flattener.py-5process has died [pid 7932, 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_28_solem']. ×2 + 11.71sINFOobjective_server_node_main-30process has finished cleanly [pid 8113] ×2 + 11.71sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 11.95sERRORcomponent_container_isolated-1process has died [pid 7928, 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_jzlhi_7m --params-file /tmp/launch_params_s1pdk1d4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.65sINFOcomponent_container_mt-31process has finished cleanly [pid 8114] ×2 + 12.65sINFOodom_world_drift-4process has finished cleanly [pid 7931] ×2 + 12.98sERRORcomponent_container_isolated-2process has died [pid 7929, 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_jzlhi_7m --params-file /tmp/launch_params_ctgqqox2 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.25sINFOros2_control_node-13process has finished cleanly [pid 8043] ×2 + 13.46sINFOweb_bridge-35process has finished cleanly [pid 8129] ×2 + 13.46sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 81 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826546 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826546 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221240 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221240 ms (missed cycles : 2).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.778ms + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.622ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346074 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346074 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791699651.98423624 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1791699652004976753, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316945 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316945 ms (missed cycles : 2).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.784ms + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 10.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-2.72, 11.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791699652.58351827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.217ms + 3.77sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.77sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.77sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.77sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056773, y=-0.0171794, yaw=-0.0183891 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 17.937ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482814 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482814 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285392 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285392 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270836 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270836 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447604 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447604 ms (missed cycles : 2).[0m ×2 + 8.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.910ms + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559201 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559201 ms (missed cycles : 3).[0m ×2 + 9.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.663ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494856 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494856 ms (missed cycles : 3).[0m ×2 + 9.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.245ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496859 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496859 ms (missed cycles : 2).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.386ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658199 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658199 ms (missed cycles : 3).[0m ×2 + 11.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.489ms + 12.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.389ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645043 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645043 ms (missed cycles : 2).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864530 ms (missed cycles : 3). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864530 ms (missed cycles : 3).[0m ×2 + 13.84sINFOobjective_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 + 13.85sINFOjoint_trajectory_controllerGot request to cancel goal + 13.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.85sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.88sERRORobjective_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: 1791699662.97274017 seconds ×3 + 13.91sINFOstate_estimatorReceived a set_pose request (stamp: 1791699662991626667, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 14.06sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.06sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.348ms + 14.36sWARNlocal_costmap.local_costmapSensor origin at (-0.63, 3.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.36sWARNlocal_costmap.local_costmapSensor origin at (-1.53, 3.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.48sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791699663.57320595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.246ms + 14.70sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567887, y=-0.0171791, yaw=-0.0183891 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884407 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884407 ms (missed cycles : 3).[0m ×2 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (6.02e-07 s). ×2 + 15.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.947ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570043 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570043 ms (missed cycles : 3).[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452148 ms (missed cycles : 3). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452148 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 47 warnings · 149 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.54sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699561.40102553 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791699561425391959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.880ms + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699561.99987888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 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 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2).[0m ×2 + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.72sINFOamclInitializing particles from estimated pose and covariance + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.72sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550053, y=-0.0166478, yaw=-0.0173086 + 5.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.069ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522726 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522726 ms (missed cycles : 3).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800112 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800112 ms (missed cycles : 3).[0m ×2 + 9.01sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791699567.85001183 seconds ×3 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478084 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478084 ms (missed cycles : 2).[0m ×2 + 10.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.56sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791699569.44176555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232754 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232754 ms (missed cycles : 2).[0m ×2 + 11.00sINFOobjective_server_nodeFound path in 0 iterations (6.44e-07 s). ×2 + 11.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887819 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887819 ms (missed cycles : 2).[0m ×2 + 13.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170065 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170065 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 52 warnings · 149 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.946ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743196 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743196 ms (missed cycles : 3).[0m ×2 + 0.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.127ms + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.293ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437965 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437965 ms (missed cycles : 2).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.367ms + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.438ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188586 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188586 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.63sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.454ms + 2.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791699728.46337628 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.72sINFOstate_estimatorReceived a set_pose request (stamp: 1791699728483009025, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.60) is out of map bounds (-3.95, 3.55) to (1.03, 8.53). The costmap cannot raytrace for it. + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.42) is out of map bounds (-3.95, 3.55) to (1.03, 8.53). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.60) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.42) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.830ms + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353110 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353110 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791699729.04979134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.366ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.53sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567845, y=-0.0171792, yaw=-0.0183891 + 3.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.77sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.194ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379767 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379767 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510101 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510101 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 9.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 9.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.73sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 9.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.20sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 12.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 36 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244004 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244004 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576701 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576701 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504190 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504190 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.74sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699498.03784871 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1791699498058172158, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869978 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869978 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.229ms + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699498.62588239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642327 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642327 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.3783e-05 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.04, -0.02, 0.6 deg) + 4.93sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.04, -0.02, 0.6 deg)[0m ×2 + 4.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0428169, y=-0.0247719, yaw=0.0104869 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408406 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408406 ms (missed cycles : 2).[0m ×2 + 5.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.068ms + 5.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.170ms + 6.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.230ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.840ms + 6.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.296ms + 7.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.428ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284846 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284846 ms (missed cycles : 3).[0m ×2 + 7.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.331ms + 8.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.054ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597309 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597309 ms (missed cycles : 2).[0m ×2 + 8.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.370ms + 8.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.390ms + 8.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791699504.11604643 seconds ×3 + 8.90sINFOstate_estimatorReceived a set_pose request (stamp: 1791699504136632386, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.41sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791699504.71086526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831973 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831973 ms (missed cycles : 2).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 5.678ms + 9.61sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 9.61sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 9.61sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568099, y=-0.0171787, yaw=-0.0183892 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.704ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528468 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528468 ms (missed cycles : 3).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925157 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925157 ms (missed cycles : 2).[0m ×2 + 12.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 24 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986516 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986516 ms (missed cycles : 2).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.210ms + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.664ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109198 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109198 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.481ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736556 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736556 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791699808.44291759 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.71sINFOstate_estimatorReceived a set_pose request (stamp: 1791699808463170134, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791699809.06471491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.30sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817726 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817726 ms (missed cycles : 2).[0m ×2 + 3.33sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 1735 particles 811 points - 6.818ms + 3.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.43sINFOamclInitializing particles from estimated pose and covariance + 3.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568073, y=-0.0171788, yaw=-0.0183892 + 3.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791699809.60484552 seconds ×3 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.824ms + 4.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432730 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432730 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791699810.18898892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791699810.84911513 seconds ×3 + 5.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001591 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001591 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010164 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010164 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792337 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792337 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.41sINFOobjective_server_nodecaller: ×10 + 2.41sINFOobjective_server_nodetype: 0 ×10 + 2.41sINFOobjective_server_nodename: "" ×10 + 2.41sINFOobjective_server_nodeinstance_id: "" ×10 + 2.41sINFOobjective_server_node ×10 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.46sINFOmove_groupClearing octomap...[0m ×4 + 2.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.46sINFOmove_groupOctomap cleared.[0m ×4 + 2.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.01sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.01sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.07sINFOobjective_server_nodecaller: ×10 + 1.07sINFOobjective_server_nodetype: 0 ×10 + 1.07sINFOobjective_server_nodename: "" ×10 + 1.07sINFOobjective_server_nodeinstance_id: "" ×10 + 1.07sINFOobjective_server_node ×10 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_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 + 3.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.05sINFOjoint_trajectory_controllerReceived new action goal + 5.05sINFOjoint_trajectory_controllerAccepted new action goal + 5.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244004 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244004 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576701 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576701 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504190 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504190 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699498.03784871 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.82sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1791699498058172158, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869978 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869978 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.229ms + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699498.62588239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642327 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642327 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.3783e-05 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.04, -0.02, 0.6 deg) + 4.93sINFOamclInitializing particles from estimated pose and covariance + 4.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.04, -0.02, 0.6 deg)[0m ×2 + 4.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0428169, y=-0.0247719, yaw=0.0104869 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408406 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408406 ms (missed cycles : 2).[0m ×2 + 5.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.068ms + 5.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.170ms + 6.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.230ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.840ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244004 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244004 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576701 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576701 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504190 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504190 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699498.03784871 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.82sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1791699498058172158, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869978 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869978 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.229ms + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699498.62588239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642327 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642327 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.3783e-05 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.04, -0.02, 0.6 deg) + 4.93sINFOamclInitializing particles from estimated pose and covariance + 4.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.04, -0.02, 0.6 deg)[0m ×2 + 4.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0428169, y=-0.0247719, yaw=0.0104869 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408406 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408406 ms (missed cycles : 2).[0m ×2 + 5.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.068ms + 5.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.170ms + 6.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.230ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.840ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.41sINFOobjective_server_nodecaller: ×10 + 2.41sINFOobjective_server_nodetype: 0 ×10 + 2.41sINFOobjective_server_nodename: "" ×10 + 2.41sINFOobjective_server_nodeinstance_id: "" ×10 + 2.41sINFOobjective_server_node ×10 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.46sINFOmove_groupClearing octomap...[0m ×4 + 2.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.46sINFOmove_groupOctomap cleared.[0m ×4 + 2.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 85 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.230ms + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888069 ms (missed cycles : 5).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.840ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.296ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.428ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284846 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284846 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.331ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.054ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597309 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597309 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.370ms + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.390ms + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791699504.11604643 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.86sINFOstate_estimatorReceived a set_pose request (stamp: 1791699504136632386, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791699504.71086526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831973 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831973 ms (missed cycles : 2).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 5.678ms + 3.57sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.57sINFOamclInitializing particles from estimated pose and covariance + 3.57sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.57sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568099, y=-0.0171787, yaw=-0.0183892 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.704ms + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528468 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528468 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925157 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925157 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 29 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699561.40102553 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791699561425391959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.880ms + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699561.99987888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2).[0m ×2 + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.72sINFOamclInitializing particles from estimated pose and covariance + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.72sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550053, y=-0.0166478, yaw=-0.0173086 + 5.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.069ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot | localize_robot.xml | 0.0s | 29 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699561.40102553 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791699561425391959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.880ms + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699561.99987888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2).[0m ×2 + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.72sINFOamclInitializing particles from estimated pose and covariance + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.72sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550053, y=-0.0166478, yaw=-0.0173086 + 5.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.069ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot If Needed | localize_robot_if_needed.xml | 0.0s | 29 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699561.40102553 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791699561425391959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.880ms + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699561.99987888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2).[0m ×2 + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.72sINFOamclInitializing particles from estimated pose and covariance + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.72sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550053, y=-0.0166478, yaw=-0.0173086 + 5.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.069ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 29 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699561.40102553 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791699561425391959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.880ms + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699561.99987888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2).[0m ×2 + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.72sINFOamclInitializing particles from estimated pose and covariance + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.72sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550053, y=-0.0166478, yaw=-0.0173086 + 5.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.069ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 29 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699561.40102553 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791699561425391959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.880ms + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699561.99987888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2).[0m ×2 + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.72sINFOamclInitializing particles from estimated pose and covariance + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.72sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550053, y=-0.0166478, yaw=-0.0173086 + 5.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.069ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 29 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699561.40102553 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791699561425391959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.880ms + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699561.99987888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2).[0m ×2 + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.72sINFOamclInitializing particles from estimated pose and covariance + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.72sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550053, y=-0.0166478, yaw=-0.0173086 + 5.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.069ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 29 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260618 ms (missed cycles : 4).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323285 ms (missed cycles : 3).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699561.40102553 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791699561425391959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-4.05, 3.15) to (0.93, 8.13). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.880ms + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236017 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699561.99987888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal + 3.95sINFOjoint_trajectory_controllerAccepted new action goal + 3.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076533 ms (missed cycles : 2).[0m ×2 + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.72sINFOamclInitializing particles from estimated pose and covariance + 4.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.72sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550053, y=-0.0166478, yaw=-0.0173086 + 5.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.069ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905146 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729537 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 31 warnings · 80 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.102ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.173ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440870 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440870 ms (missed cycles : 4).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.629ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080469 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080469 ms (missed cycles : 3).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791699600.39189982 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.64sINFOstate_estimatorReceived a set_pose request (stamp: 1791699600411495298, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.10) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.13) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.19) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.88sWARNlocal_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. ×3 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880875 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880875 ms (missed cycles : 2).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.522ms + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791699600.98407173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (5.66e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686383 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686383 ms (missed cycles : 3).[0m ×2 + 4.76sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.76sINFOamclInitializing particles from estimated pose and covariance + 4.76sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.378ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455572 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455572 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849470 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849470 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 31 warnings · 80 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.102ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.173ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440870 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440870 ms (missed cycles : 4).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.629ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080469 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080469 ms (missed cycles : 3).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791699600.39189982 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.64sINFOstate_estimatorReceived a set_pose request (stamp: 1791699600411495298, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.10) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.13) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.19) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.88sWARNlocal_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. ×3 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880875 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880875 ms (missed cycles : 2).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.522ms + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791699600.98407173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (5.66e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686383 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686383 ms (missed cycles : 3).[0m ×2 + 4.76sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.76sINFOamclInitializing particles from estimated pose and covariance + 4.76sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.378ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455572 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455572 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849470 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849470 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 31 warnings · 80 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.102ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102337 ms (missed cycles : 2).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.173ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440870 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440870 ms (missed cycles : 4).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.629ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080469 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080469 ms (missed cycles : 3).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791699600.39189982 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.64sINFOstate_estimatorReceived a set_pose request (stamp: 1791699600411495298, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.10) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.13) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.19) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.88sWARNlocal_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. ×3 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880875 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880875 ms (missed cycles : 2).[0m ×2 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.522ms + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791699600.98407173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (5.66e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686383 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686383 ms (missed cycles : 3).[0m ×2 + 4.76sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.76sINFOamclInitializing particles from estimated pose and covariance + 4.76sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184047 + 4.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.378ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455572 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455572 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849470 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849470 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.41sINFOobjective_server_nodecaller: ×10 + 2.41sINFOobjective_server_nodetype: 0 ×10 + 2.41sINFOobjective_server_nodename: "" ×10 + 2.41sINFOobjective_server_nodeinstance_id: "" ×10 + 2.41sINFOobjective_server_node ×10 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.46sINFOmove_groupClearing octomap...[0m ×4 + 2.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.46sINFOmove_groupOctomap cleared.[0m ×4 + 2.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Refine Localization In Place | refine_localization_in_place.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Refine Localization In Place Subtree | refine_localization_in_place_subtree.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726497 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273053 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541124 ms (missed cycles : 4).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791699734.95994306 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195099 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791699735.56306386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710059 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684264 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986516 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986516 ms (missed cycles : 2).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.210ms + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.664ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109198 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109198 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.481ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736556 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736556 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791699808.44291759 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.71sINFOstate_estimatorReceived a set_pose request (stamp: 1791699808463170134, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791699809.06471491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.30sINFOmove_groupClearing octomap...[0m ×2 + 3.30sINFOmove_groupOctomap cleared.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817726 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817726 ms (missed cycles : 2).[0m ×2 + 3.33sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 1735 particles 811 points - 6.818ms + 3.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.43sINFOamclInitializing particles from estimated pose and covariance + 3.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568073, y=-0.0171788, yaw=-0.0183892 + 3.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791699809.60484552 seconds ×3 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.824ms + 4.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432730 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432730 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791699810.18898892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791699810.84911513 seconds ×3 + 5.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001591 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001591 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 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/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 346 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.41sINFOobjective_server_nodecaller: ×10 + 2.41sINFOobjective_server_nodetype: 0 ×10 + 2.41sINFOobjective_server_nodename: "" ×10 + 2.41sINFOobjective_server_nodeinstance_id: "" ×10 + 2.41sINFOobjective_server_node ×10 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.46sINFOmove_groupClearing octomap...[0m ×4 + 2.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.46sINFOmove_groupOctomap cleared.[0m ×4 + 2.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671203 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671203 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.36sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.37sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.37sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.38sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.38sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.43sINFOobjective_server_nodecaller: ×10 + 3.43sINFOobjective_server_nodetype: 0 ×10 + 3.43sINFOobjective_server_nodename: "" ×10 + 3.43sINFOobjective_server_nodeinstance_id: "" ×10 + 3.43sINFOobjective_server_node ×10 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.48sINFOmove_groupClearing octomap...[0m ×4 + 3.48sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×4 + 3.48sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_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 + 5.43sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 6.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 7.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 346 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.41sINFOobjective_server_nodecaller: ×10 + 2.41sINFOobjective_server_nodetype: 0 ×10 + 2.41sINFOobjective_server_nodename: "" ×10 + 2.41sINFOobjective_server_nodeinstance_id: "" ×10 + 2.41sINFOobjective_server_node ×10 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.46sINFOmove_groupClearing octomap...[0m ×4 + 2.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.46sINFOmove_groupOctomap cleared.[0m ×4 + 2.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 337 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671203 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671203 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.36sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.37sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.37sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.38sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.38sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.43sINFOobjective_server_nodecaller: ×10 + 3.43sINFOobjective_server_nodetype: 0 ×10 + 3.43sINFOobjective_server_nodename: "" ×10 + 3.43sINFOobjective_server_nodeinstance_id: "" ×10 + 3.43sINFOobjective_server_node ×10 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.48sINFOmove_groupClearing octomap...[0m ×4 + 3.48sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×4 + 3.48sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_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 + 5.43sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 6.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.01sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.41sINFOobjective_server_nodecaller: ×10 + 2.41sINFOobjective_server_nodetype: 0 ×10 + 2.41sINFOobjective_server_nodename: "" ×10 + 2.41sINFOobjective_server_nodeinstance_id: "" ×10 + 2.41sINFOobjective_server_node ×10 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.46sINFOmove_groupClearing octomap...[0m ×4 + 2.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.46sINFOmove_groupOctomap cleared.[0m ×4 + 2.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.41sINFOobjective_server_nodecaller: ×10 + 2.41sINFOobjective_server_nodetype: 0 ×10 + 2.41sINFOobjective_server_nodename: "" ×10 + 2.41sINFOobjective_server_nodeinstance_id: "" ×10 + 2.41sINFOobjective_server_node ×10 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.46sINFOmove_groupClearing octomap...[0m ×4 + 2.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.46sINFOmove_groupOctomap cleared.[0m ×4 + 2.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.41sINFOobjective_server_nodecaller: ×10 + 2.41sINFOobjective_server_nodetype: 0 ×10 + 2.41sINFOobjective_server_nodename: "" ×10 + 2.41sINFOobjective_server_nodeinstance_id: "" ×10 + 2.41sINFOobjective_server_node ×10 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.46sINFOmove_groupClearing octomap...[0m ×4 + 2.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.46sINFOmove_groupOctomap cleared.[0m ×4 + 2.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 346 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984426 ms (missed cycles : 2).[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 1.34sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.35sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.35sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.41sINFOobjective_server_nodecaller: ×10 + 2.41sINFOobjective_server_nodetype: 0 ×10 + 2.41sINFOobjective_server_nodename: "" ×10 + 2.41sINFOobjective_server_nodeinstance_id: "" ×10 + 2.41sINFOobjective_server_node ×10 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.46sINFOmove_groupClearing octomap...[0m ×4 + 2.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.46sINFOmove_groupOctomap cleared.[0m ×4 + 2.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782228 ms (missed cycles : 3).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794013 ms (missed cycles : 2).[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.31sINFOobjective_server_nodecaller: ×10 + 1.31sINFOobjective_server_nodetype: 0 ×10 + 1.31sINFOobjective_server_nodename: "" ×10 + 1.31sINFOobjective_server_nodeinstance_id: "" ×10 + 1.31sINFOobjective_server_node ×10 + 1.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699452.39538145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.36sINFOmove_groupClearing octomap...[0m ×4 + 1.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.36sINFOmove_groupOctomap cleared.[0m ×4 + 1.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699452.40553617 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699452.98477006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699452.99488950 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065720 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699453.57425928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699453.72477698 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919678 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699454.33349085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699454.39361954 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699454.97232413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092874 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781694 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960361 ms (missed cycles : 2).[0m ×2 | ||||