MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

20.7s

Avg test time

100%

Objective pass rate

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2 pass

✓ passed	—	test_base_link_has_single_tf_parent	21.4s	12 errors · 314 warnings · 1577 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/2026-10-11-06-23-53-241068-8898e9daa1c2-7866 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.69sINFOstatic_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' + 4.70sINFOstatic_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' + 4.70sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.70sINFOstatic_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' + 4.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.75sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.77sINFOmap_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. + 4.77sINFOmap_serverCreating + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.78sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.79sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.79sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.82sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.84sINFOlifecycle_manager_localizationCreating + 4.86sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.87sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.87sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.87sINFOmap_serverConfiguring + 4.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.92sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.92sINFOamclConfiguring + 4.93sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.93sINFOmap_serverActivating + 4.93sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.94sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.96sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.96sINFOstate_estimatorReceived a set_pose request (stamp: 1791699839936988289, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.96sINFOcontroller_managerupdate rate is 600 Hz + 4.96sINFOcontroller_managerOverruns handling is : enabled + 4.96sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.97sWARNcontroller_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. + 4.99sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.03sINFOros2_control_node-13process started with pid [8031] ×2 + 5.03sINFOmove_group-25process started with pid [8096] ×2 + 5.03sINFOparameter_manager_node-26process started with pid [8097] ×2 + 5.03sINFOwaypoint_manager_node-27process started with pid [8100] ×2 + 5.03sINFOmove_joint_resampler_node-28process started with pid [8101] ×2 + 5.03sINFOmove_end_effector_resampler_node-29process started with pid [8104] ×2 + 5.03sINFOobjective_server_node_main-30process started with pid [8106] ×2 + 5.03sINFOcomponent_container_mt-31process started with pid [8107] ×2 + 5.03sINFOcomponent_container_mt-32process started with pid [8126] ×2 + 5.04sINFOexecute_objective_bridge-33process started with pid [8130] ×2 + 5.04sINFOui_teleop_bridge-34process started with pid [8131] ×2 + 5.04sINFOweb_bridge-35process started with pid [8136] ×2 + 5.04sINFOtf_visualization_relay-36process started with pid [8139] ×2 + 5.04sINFOjoint_state_visualization_relay-37process started with pid [8140] ×2 + 5.04sINFOtf2_web_republisher_node-38process started with pid [8141] ×2 + 5.04sINFOvideo_server-39process started with pid [8142] ×2 + 5.04sINFOweb_bridge_auth_proxy-40process started with pid [8143] ×2 + 5.04sINFOweb_video_auth_proxy-41process started with pid [8144] ×2 + 5.04sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.04sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.04sINFOamclActivating + 5.05sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.05sINFOcomponent_container_isolated-1process started with pid [7916] ×2 + 5.05sINFOcomponent_container_isolated-2process started with pid [7917] ×2 + 5.05sINFOstatic_transform_publisher-3process started with pid [7918] ×2 + 5.05sINFOodom_world_drift-4process started with pid [7919] ×2 + 5.05sINFOlidar_flattener.py-5process started with pid [7920] ×2 + 5.05sINFOstatic_transform_publisher-6process started with pid [7921] ×2 + 5.05sINFOstatic_transform_publisher-7process started with pid [7922] ×2 + 5.05sINFOscan_to_scan_filter_chain-8process started with pid [7923] ×2 + 5.05sINFOscan_to_scan_filter_chain-9process started with pid [7924] ×2 + 5.05sINFOrelay-10process started with pid [8028] ×2 + 5.05sINFOrelay-11process started with pid [8029] ×2 + 5.05sINFOfixed_lag_smoother_node-12process started with pid [8030] ×2 + 5.05sINFOros2-14process started with pid [8032] ×2 + 5.05sINFOros2-15process started with pid [8033] ×2 + 5.05sINFOros2-16process started with pid [8036] ×2 + 5.05sINFOros2-17process started with pid [8037] ×2 + 5.05sINFOros2-18process started with pid [8038] ×2 + 5.05sINFOros2-19process started with pid [8039] ×2 + 5.05sINFOros2-20process started with pid [8040] ×2 + 5.05sINFOros2-21process started with pid [8041] ×2 + 5.05sINFOros2-22process started with pid [8042] ×2 + 5.05sINFOros2-23process started with pid [8043] ×2 + 5.05sINFOros2-24process started with pid [8046] ×2 + 5.05sINFOcontroller_serverCreating controller server + 5.05sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.06sINFOamclSubscribed to map_topic: /map + 5.07sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.07sINFOamclCreated reinitialize_global_localization service + 5.07sINFOamclCreated request_nomotion_update service + 5.07sINFOamclA new map was received + 5.07sINFOamclInitializing particle filter instance + 5.11sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.11sINFOlocal_costmap.local_costmapCreating Costmap + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578776 ms (missed cycles : 4). + 5.13sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.13sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.13sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.13sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.13sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.13sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.13sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.13sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.14sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.14sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.14sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.14sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.14sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.14sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.14sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.14sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578776 ms (missed cycles : 4).[0m ×2 + 5.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.19sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.20sINFOsmoother_serverCreating smoother server + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.27sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.29sINFOplanner_serverCreating + 5.33sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.34sINFOglobal_costmap.global_costmapCreating Costmap + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.38sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.38sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.38sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.38sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.39sINFObehavior_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. + 5.41sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.41sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.44sINFOvideo_server2026/10/11 06:24:00 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.44sINFOvideo_server2026/10/11 06:24:00 INF configuration loaded from /tmp/moveit-webrtc-h1ritur0/mediamtx.yml ×2 + 5.44sINFOvideo_server2026/10/11 06:24:00 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.44sINFOvideo_server2026/10/11 06:24:00 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.47sINFObt_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. + 5.48sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.49sINFObt_navigatorCreating + 5.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.54sINFOrobot_state_publisherRobot initialized + 5.54sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.54sINFOcontroller_managerReceived robot description from topic. + 5.54sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.54sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.54sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.54sINFOwaypoint_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. + 5.55sINFOwaypoint_followerCreating + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.56sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.56sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.57sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.57sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.57sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.58sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.58sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.61sINFOvelocity_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. + 5.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.64sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.66sINFOlifecycle_manager_navigationCreating + 5.68sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.70sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.70sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.71sWARNlaser_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. + 5.71sWARNlaser_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. + 5.71sWARNscan_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 + 5.73sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.73sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.73sINFOcontroller_serverConfiguring controller interface + 5.73sINFOcontroller_servergetting progress checker plugins.. + 5.73sINFOcontroller_servergetting goal checker plugins.. + 5.73sINFOcontroller_serverController frequency set to 20.0000Hz + 5.73sINFOlocal_costmap.local_costmapConfiguring + 5.74sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.76sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.82sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.82sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.83sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.85sINFOamclParticle filter initialization completed + 5.85sINFOamclInitializing particles from estimated pose and covariance + 5.85sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.87sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.88sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.88sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.89sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.90sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.94sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.96sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.96sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.96sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.96sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.96sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.96sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.98sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.98sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.99sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.99sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.99sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.00sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.00sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.00sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.00sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.00sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.00sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.00sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.00sINFOcontroller_serverOptimizer reset ×2 + 6.02sINFOcontroller_serverController Server has FollowPath controllers available. + 6.04sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.04sINFOsmoother_serverConfiguring smoother server + 6.06sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.07sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.08sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.09sINFOplanner_serverConfiguring + 6.09sINFOglobal_costmap.global_costmapConfiguring + 6.10sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.11sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.328473 seconds + 6.11sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.11sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.11sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.11sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.11sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.11sINFOmove_groupLoaded robot model in 0.328473 seconds[0m ×2 + 6.11sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.11sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.12sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814724 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814724 ms (missed cycles : 3).[0m ×2 + 6.16sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.16sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.16sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.22sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.22sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.22sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.24sINFOplanner_serverPlanner Server has GridBased planners available. + 6.25sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.25sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.28sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.28sINFObehavior_serverConfiguring + 6.30sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.32sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.33sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.34sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.35sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.37sINFObehavior_serverConfiguring spin + 6.40sINFObehavior_serverConfiguring backup + 6.41sINFObehavior_serverConfiguring drive_on_heading + 6.43sINFObehavior_serverConfiguring assisted_teleop + 6.46sINFObehavior_serverConfiguring wait + 6.47sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.47sINFObt_navigatorConfiguring + 6.47sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.49sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.69sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.71sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.71sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.72sWARNmove_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. + 6.72sWARNmove_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 + 6.72sWARNmove_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. + 6.72sWARNmove_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 + 6.72sWARNmove_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. + 6.72sWARNmove_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 + 6.72sWARNmove_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. + 6.72sWARNmove_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 + 6.72sWARNmove_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. + 6.73sWARNmove_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. + 6.73sWARNmove_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 + 6.73sWARNmove_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 + 6.73sWARNmove_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. + 6.73sWARNmove_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. + 6.73sWARNmove_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 + 6.73sWARNmove_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 + 6.73sWARNmove_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. + 6.73sWARNmove_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. + 6.73sWARNmove_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 + 6.73sWARNmove_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 + 6.81sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.81sINFOwaypoint_followerConfiguring + 6.85sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.85sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.85sINFOvelocity_smootherConfiguring velocity smoother + 6.86sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.86sINFOcontroller_serverActivating + 6.86sINFOlocal_costmap.local_costmapActivating + 6.86sINFOlocal_costmap.local_costmapChecking transform + 6.86sINFOlocal_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 ×4 + 6.97sINFOweb_bridge_auth_proxy2026-10-11 06:24:01,946 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.97sINFOweb_bridge_auth_proxy2026-10-11 06:24:01,952 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.98sINFOmove_group[2026-10-11 06:24:01.954] [moveit_pro_license] [info] ×2 + 6.98sINFOmove_group************************************************* ×4 + 6.98sINFOmove_group* MoveIt Pro License ×2 + 6.98sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.98sINFOweb_video_auth_proxy2026-10-11 06:24:01,955 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 7.18sINFOwaypoint_manager_nodeLoaded robot model in 0.458267 seconds[0m ×2 + 7.18sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 7.18sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.40sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.40sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.40sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.40sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 7.40sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 7.40sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.40sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.40sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 7.40sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 7.40sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.40sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.40sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.41sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.41sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.41sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.41sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.41sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.41sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.41sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.41sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.41sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.42sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.42sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.42sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.42sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.42sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.45sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 7.45sINFOros2_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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 + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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. + 7.53sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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. + 7.54sWARNwaypoint_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 + 7.54sWARNwaypoint_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 + 7.75sINFOwaypoint_manager_node[2026-10-11 06:24:02.732] [moveit_pro_license] [info] ×2 + 7.75sINFOwaypoint_manager_node************************************************* ×4 + 7.75sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.75sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.801306 ms (missed cycles : 6). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.801306 ms (missed cycles : 6).[0m ×2 + 8.14sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.14sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.15sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.29sINFOobjective_server_node[2026-10-11 06:24:03.272] [moveit_pro_license] [info] ×2 + 8.29sINFOobjective_server_node************************************************* ×4 + 8.29sINFOobjective_server_node* MoveIt Pro License ×2 + 8.29sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.33sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 8.33sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 8.33sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter. Its parent TF edge is published by robot_state_publisher or another node, not this interface.[0m ×2 + 8.33sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 8.33sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 8.33sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 8.33sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 8.33sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 8.33sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 8.33sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 8.33sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 8.33sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 8.33sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 8.33sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 8.33sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 8.33sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 8.33sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.33sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 8.33sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.33sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.33sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 8.33sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 8.33sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 8.33sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 8.33sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 8.33sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 8.33sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 8.33sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 8.39sINFOobjective_server_nodeLoaded robot model in 0.0431432 seconds[0m ×2 + 8.39sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.39sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.40sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 8.40sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.51sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 8.51sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 8.51sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 8.51sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 8.51sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 8.51sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.52sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.55sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.55sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.57sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.57sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.59sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 8.59sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 8.60sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 8.60sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 8.60sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 8.60sINFOcontroller_managerSuccessfully switched controllers! ×21 + 8.60sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 8.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 8.61sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 8.61sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.61sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 8.61sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.61sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.67sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.70sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.70sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.70sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.70sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.71sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.71sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.71sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.71sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.71sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.71sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.71sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.71sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.71sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.72sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.72sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.72sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.72sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.72sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.72sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.72sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.72sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.72sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.72sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.77sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797052 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797052 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcomponent_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 + 8.86sINFOlocal_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. ×8 + 8.92sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.92sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 8.92sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.92sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 8.93sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.93sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.93sWARNobjective_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. + 8.93sWARNobjective_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. + 8.93sWARNobjective_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 + 8.93sWARNobjective_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 + 8.93sWARNobjective_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. + 8.93sWARNobjective_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. + 8.93sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 8.93sWARNobjective_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 + 8.93sWARNobjective_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. + 8.93sWARNobjective_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. + 8.93sWARNobjective_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 + 8.93sWARNobjective_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. + 8.93sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.93sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 8.93sWARNobjective_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 + 8.93sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.93sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.93sWARNobjective_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 + 8.93sWARNobjective_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 + 8.93sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.93sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.93sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.99sINFOros2-15process has finished cleanly [pid 8033] ×2 + 9.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.02sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.02sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.03sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 9.03sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 9.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 9.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 9.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 9.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.04sINFOplatform_velocity_controllerconfigure successful + 9.04sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 9.04sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.04sINFOros2_control_nodeconfigure successful[0m ×6 + 9.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.05sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.05sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.07sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.14sINFOcomponent_container_mtLoaded robot model in 0.355545 seconds[0m ×2 + 9.14sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.14sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.23sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.32sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.32sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.37sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.37sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 9.37sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 9.39sINFOros2-17process has finished cleanly [pid 8037] ×2 + 9.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.45sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.45sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.46sINFOplatform_velocity_controller_nav2configure successful + 9.54sINFOmove_groupMoveGroup debug mode is ON + 9.54sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.54sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.59sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.60sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.60sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.65sWARNplanning_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. + 9.65sWARNplanning_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. + 9.65sWARNcomponent_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 + 9.65sWARNcomponent_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 + 9.65sWARNplanning_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. + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.66sWARNcomponent_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 + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.66sWARNplanning_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. + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.66sWARNcomponent_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 + 9.66sWARNplanning_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. + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.66sWARNplanning_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. + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.66sWARNcomponent_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 + 9.66sWARNcomponent_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 + 9.66sWARNplanning_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. + 9.66sWARNcomponent_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 + 9.67sWARNplanning_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. + 9.67sWARNcomponent_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 + 9.67sWARNplanning_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. + 9.67sWARNcomponent_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 + 9.67sWARNplanning_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. + 9.67sWARNcomponent_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 + 9.67sWARNplanning_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. + 9.67sWARNcomponent_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 + 9.67sWARNplanning_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. + 9.67sWARNcomponent_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 + 9.67sWARNplanning_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. + 9.67sWARNcomponent_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 + 9.67sWARNplanning_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. + 9.67sWARNcomponent_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 + 9.67sWARNplanning_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. + 9.67sWARNcomponent_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 + 9.67sWARNplanning_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. + 9.67sWARNcomponent_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 + 9.67sWARNplanning_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. + 9.67sWARNplanning_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. + 9.67sWARNcomponent_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 + 9.67sWARNcomponent_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 + 9.71sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 9.72sINFOmove_group ×8 + 9.72sINFOmove_group****************************************************** ×4 + 9.72sINFOmove_group* MoveGroup using: ×2 + 9.72sINFOmove_group* - apply_planning_scene_service ×2 + 9.72sINFOmove_group* - clear_octomap_service ×2 + 9.72sINFOmove_group* - get_group_urdf ×2 + 9.72sINFOmove_group* - load_geometry_from_file ×2 + 9.72sINFOmove_group* - get_planning_scene_service ×2 + 9.72sINFOmove_group* - kinematics_service ×2 + 9.72sINFOmove_group* - save_geometry_to_file ×2 + 9.72sINFOmove_group* - GetPlanningGroups ×2 + 9.72sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.72sINFOmove_group[0m ×2 + 9.72sINFOmove_group[92mYou can start planning now![0m ×2 + 9.82sINFOros2-19process has finished cleanly [pid 8039] ×2 + 9.82sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.83sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 9.83sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.83sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 9.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 9.94sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 9.99sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 9.99sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 9.99sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 9.99sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 10.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 10.00sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702879 ms (missed cycles : 4). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702879 ms (missed cycles : 4).[0m ×2 + 10.12sINFOcomponent_container_mt[2026-10-11 06:24:05.098] [moveit_pro_license] [info] ×2 + 10.12sINFOcomponent_container_mt************************************************* ×4 + 10.12sINFOcomponent_container_mt* MoveIt Pro License ×2 + 10.12sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.18sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 10.41sINFOros2_control_node[2026-10-11 06:24:05.391] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.42sINFOros2_control_node[2026-10-11 06:24:05.395] [info] Controller state will be published at 10 Hz. ×2 + 10.42sINFOros2_control_node[2026-10-11 06:24:05.396] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.45sWARNros2_control_nodeCamera render tick took 0.99 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.48sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.48sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.49sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.49sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.49sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.50sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.50sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.75sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.75sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.75sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.75sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.76sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 10.76sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 10.79sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.80sINFOros2-22process has finished cleanly [pid 8042] ×2 + 10.83sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.83sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.83sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.83sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.83sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.83sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.83sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.83sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.84sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.84sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172398 ms (missed cycles : 4). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172398 ms (missed cycles : 4).[0m ×2 + 11.14sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.14sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.15sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.15sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.19sINFOros2-18process has finished cleanly [pid 8038] ×2 + 11.22sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 11.22sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 11.27sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.27sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.27sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.27sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.48sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791699844.435 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.67sINFOros2_control_node[2026-10-11 06:24:06.653] [info] Controller state will be published at 20 Hz. ×2 + 11.68sINFOros2_control_node[2026-10-11 06:24:06.654] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.99sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.99sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.99sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.99sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.99sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 11.99sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 12.03sINFOros2-23process has finished cleanly [pid 8043] ×2 + 12.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924881 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924881 ms (missed cycles : 2).[0m ×2 + 12.42sINFOros2_control_node[2026-10-11 06:24:07.401] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.42sINFOros2_control_node[2026-10-11 06:24:07.402] [info] Controller state will be published at 10 Hz. ×2 + 12.42sINFOros2_control_node[2026-10-11 06:24:07.403] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.73sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.73sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.73sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.73sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.74sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 12.74sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 12.77sINFOros2-21process has finished cleanly [pid 8041] ×2 + 12.80sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.80sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.80sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.80sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.80sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.80sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.81sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.81sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.82sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.82sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.86sINFOlocal_costmap.local_costmapstart + 12.97sWARNcontroller_serverParameter controller_server.verbose not found + 12.97sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.07sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.07sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.07sINFOsmoother_serverActivating + 13.07sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683743 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683743 ms (missed cycles : 2).[0m ×2 + 13.11sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.12sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.12sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.12sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 13.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 13.16sINFOros2-16process has finished cleanly [pid 8036] ×2 + 13.17sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791699847.390 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.18sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.18sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.18sINFOplanner_serverActivating + 13.18sINFOglobal_costmap.global_costmapActivating + 13.18sINFOglobal_costmap.global_costmapChecking transform + 13.18sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 13.24sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.24sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.24sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.24sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.24sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.24sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.24sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.24sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.24sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.24sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.25sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.25sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 37.289ms + 13.51sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.51sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.51sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.51sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.52sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 13.52sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 13.57sINFOros2-20process has finished cleanly [pid 8040] ×2 + 13.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.61sINFOforce_torque_sensor_broadcasterconfigure successful + 13.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.62sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.62sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.68sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1791699848.613976, but only time 1791699848.856109 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.94sINFOros2-14process has finished cleanly [pid 8032] ×2 + 13.98sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.98sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 13.98sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.98sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l + 13.98sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 13.98sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9w92bnn4 --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_2h6g9q2c --params-file /tmp/launch_params_e3xm1n2l [0m ×2 + 14.04sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 14.04sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 14.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 14.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 14.18sINFOglobal_costmap.global_costmapstart + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696694 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696694 ms (missed cycles : 2).[0m ×2 + 14.53sINFOros2_control_node[2026-10-11 06:24:09.507] [info] Controller state will be published at 20 Hz. ×2 + 14.53sINFOros2_control_node[2026-10-11 06:24:09.508] [info] JointVelocityController 'on_configure' succeeded. ×2 + 14.86sINFOros2-24process has finished cleanly [pid 8046] ×2 + 14.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 15.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 15.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 15.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 15.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 15.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 15.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 15.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.23sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.23sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675718 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675718 ms (missed cycles : 3).[0m ×2 + 15.34sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.34sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.34sINFObehavior_serverActivating + 15.34sINFObehavior_serverActivating spin + 15.34sINFObehavior_serverActivating backup + 15.34sINFObehavior_serverActivating drive_on_heading + 15.34sINFObehavior_serverActivating assisted_teleop + 15.34sINFObehavior_serverActivating wait + 15.34sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.44sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.44sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.45sINFObt_navigatorActivating + 15.51sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.61sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.61sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.61sINFOwaypoint_followerActivating + 15.61sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.72sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.72sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.72sINFOvelocity_smootherActivating + 15.72sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.82sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.82sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.82sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479366 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479366 ms (missed cycles : 3).[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847881 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847881 ms (missed cycles : 2).[0m ×2 + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 18.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 20.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 20.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 20.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 20.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 20.74sINFOobjective_server_nodecaller: ×10 + 20.74sINFOobjective_server_nodetype: 0 ×10 + 20.74sINFOobjective_server_nodename: "" ×10 + 20.74sINFOobjective_server_nodeinstance_id: "" ×10 + 20.74sINFOobjective_server_node ×10 + 20.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 20.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 20.80sINFOmove_groupClearing octomap...[0m ×4 + 20.80sINFOmove_groupOctomap cleared.[0m ×4 + 20.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 20.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 20.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 21.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.35sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 21.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 21.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 21.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 22.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 22.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 22.78sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 22.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 22.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 22.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 22.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 22.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 23.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	21 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847881 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847881 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.41sINFOobjective_server_nodecaller: ×10 + 3.41sINFOobjective_server_nodetype: 0 ×10 + 3.41sINFOobjective_server_nodename: "" ×10 + 3.41sINFOobjective_server_nodeinstance_id: "" ×10 + 3.41sINFOobjective_server_node ×10 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.46sINFOmove_groupClearing octomap...[0m ×4 + 3.46sINFOmove_groupOctomap cleared.[0m ×4 + 3.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 5.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2

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

13 pass28 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	66.1s	3 errors · 272 warnings · 287 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.934ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280449 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280449 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.227ms + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 0.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×8 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.424ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566710 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566710 ms (missed cycles : 2).[0m ×2 + 1.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.291ms + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.552ms + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058377 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058377 ms (missed cycles : 5).[0m ×2 + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.218ms + 3.01sINFOobjective_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 + 3.02sINFOjoint_trajectory_controllerGot request to cancel goal + 3.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.02sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.06sERRORobjective_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: 1791700067.09360838 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOstate_estimatorReceived a set_pose request (stamp: 1791700067110302753, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-0.53, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 2.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.592ms + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791700067.68940401 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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985494 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985494 ms (missed cycles : 2).[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.206ms + 3.86sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.87sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.87sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.87sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568297, y=-0.0171817, yaw=-0.0184023 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 4.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.753ms + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299910 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299910 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321737 ms (missed cycles : 4). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321737 ms (missed cycles : 4).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.55sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068907 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068907 ms (missed cycles : 3).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971297 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971297 ms (missed cycles : 2).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.411ms + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834482 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834482 ms (missed cycles : 2).[0m ×2 + 9.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.452ms + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622018 ms (missed cycles : 4). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622018 ms (missed cycles : 4).[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.615ms + 10.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.614ms + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874925 ms (missed cycles : 5). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874925 ms (missed cycles : 5).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.377ms + 11.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.442ms + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367884 ms (missed cycles : 4). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367884 ms (missed cycles : 4).[0m ×2 + 12.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.526ms + 12.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.112ms + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654216 ms (missed cycles : 4). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654216 ms (missed cycles : 4).[0m ×2 + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.988ms + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.241ms + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.236ms + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584503 ms (missed cycles : 5). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584503 ms (missed cycles : 5).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.469ms + 15.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.369ms + 15.32sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104232 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104232 ms (missed cycles : 3).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.615ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.251ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236783 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236783 ms (missed cycles : 2).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.885ms + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.208ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281258 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281258 ms (missed cycles : 2).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.889ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.860ms + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233089 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233089 ms (missed cycles : 2).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.195ms + 19.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.241ms + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.581ms + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196607 ms (missed cycles : 2). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196607 ms (missed cycles : 2).[0m ×2 + 20.26sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.371ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.155ms + 20.81sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669413 ms (missed cycles : 2). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669413 ms (missed cycles : 2).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.513ms + 21.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.146ms + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439057 ms (missed cycles : 5). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439057 ms (missed cycles : 5).[0m ×2 + 22.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.319ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.676ms + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721834 ms (missed cycles : 2). + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721834 ms (missed cycles : 2).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.748ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.103ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534137 ms (missed cycles : 3). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534137 ms (missed cycles : 3).[0m ×2 + 24.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.524ms + 24.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.565ms ×2 + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334315 ms (missed cycles : 2). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334315 ms (missed cycles : 2).[0m ×2 + 25.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.396ms + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.665ms + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499629 ms (missed cycles : 3). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499629 ms (missed cycles : 3).[0m ×2 + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.968ms + 26.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.836ms + 26.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318340 ms (missed cycles : 2). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318340 ms (missed cycles : 2).[0m ×2 + 27.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.057ms + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.468ms + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510010 ms (missed cycles : 4). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510010 ms (missed cycles : 4).[0m ×2 + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.897ms + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.375ms + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.095ms + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853759 ms (missed cycles : 2). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853759 ms (missed cycles : 2).[0m ×2 + 29.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.502ms + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939475 ms (missed cycles : 3). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939475 ms (missed cycles : 3).[0m ×2 + 30.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.357ms + 31.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.324ms + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567585 ms (missed cycles : 3). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567585 ms (missed cycles : 3).[0m ×2 + 31.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.649ms + 32.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.512ms + 32.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197473 ms (missed cycles : 2). + 32.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197473 ms (missed cycles : 2).[0m ×2 + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.103ms + 33.23sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 33.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.284ms + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346803 ms (missed cycles : 2). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346803 ms (missed cycles : 2).[0m ×2 + 34.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.164ms + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188858 ms (missed cycles : 2). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188858 ms (missed cycles : 2).[0m ×2 + 34.92sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.92sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.47sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853466 ms (missed cycles : 2). + 35.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853466 ms (missed cycles : 2).[0m ×2 + 36.46sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767552 ms (missed cycles : 3). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767552 ms (missed cycles : 3).[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947498 ms (missed cycles : 2). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947498 ms (missed cycles : 2).[0m ×2 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213769 ms (missed cycles : 5). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213769 ms (missed cycles : 5).[0m ×2 + 39.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.324ms + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453237 ms (missed cycles : 3). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453237 ms (missed cycles : 3).[0m ×2 + 39.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.981ms + 40.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.676ms + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.151842 ms (missed cycles : 6). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.151842 ms (missed cycles : 6).[0m ×2 + 40.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.897ms + 41.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.824ms + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123300 ms (missed cycles : 2). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123300 ms (missed cycles : 2).[0m ×2 + 42.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.734ms + 42.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768855 ms (missed cycles : 2). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768855 ms (missed cycles : 2).[0m ×2 + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822850 ms (missed cycles : 3). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822850 ms (missed cycles : 3).[0m ×2 + 44.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.041ms + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632719 ms (missed cycles : 4). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632719 ms (missed cycles : 4).[0m ×2 + 45.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.793ms + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194496 ms (missed cycles : 2). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194496 ms (missed cycles : 2).[0m ×2 + 46.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.916ms + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173056 ms (missed cycles : 4). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173056 ms (missed cycles : 4).[0m ×2 + 47.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.483ms + 47.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.556ms + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701428 ms (missed cycles : 2). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701428 ms (missed cycles : 2).[0m ×2 + 49.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.952ms + 49.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660204 ms (missed cycles : 4). + 49.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660204 ms (missed cycles : 4).[0m ×2 + 49.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.855ms + 50.10sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 50.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030847 ms (missed cycles : 4). + 50.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030847 ms (missed cycles : 4).[0m ×2 + 51.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365754 ms (missed cycles : 5). + 51.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365754 ms (missed cycles : 5).[0m ×2 + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840360 ms (missed cycles : 5). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840360 ms (missed cycles : 5).[0m ×2 + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902307 ms (missed cycles : 2). + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902307 ms (missed cycles : 2).[0m ×2 + 54.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.930ms + 54.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691234 ms (missed cycles : 3). + 54.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691234 ms (missed cycles : 3).[0m ×2 + 55.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.269ms + 55.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.838ms + 55.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381188 ms (missed cycles : 4). + 55.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381188 ms (missed cycles : 4).[0m ×2 + 56.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.127ms + 56.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.761ms + 56.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817947 ms (missed cycles : 2). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817947 ms (missed cycles : 2).[0m ×2 + 57.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813255 ms (missed cycles : 2). + 57.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813255 ms (missed cycles : 2).[0m ×2 + 58.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.881ms + 58.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071342 ms (missed cycles : 3). + 58.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071342 ms (missed cycles : 3).[0m ×2 + 59.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.258ms + 59.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240276 ms (missed cycles : 3). + 59.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240276 ms (missed cycles : 3).[0m ×2 + 60.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339017 ms (missed cycles : 2). + 60.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339017 ms (missed cycles : 2).[0m ×2 + 61.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317021 ms (missed cycles : 2). + 61.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317021 ms (missed cycles : 2).[0m ×2 + 62.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771084 ms (missed cycles : 2). + 62.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771084 ms (missed cycles : 2).[0m ×2 + 63.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590292 ms (missed cycles : 2). + 63.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590292 ms (missed cycles : 2).[0m ×2 + 64.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.052ms + 65.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759905 ms (missed cycles : 3). + 65.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759905 ms (missed cycles : 3).[0m ×2 + 66.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.610ms + 66.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715448 ms (missed cycles : 2). + 66.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715448 ms (missed cycles : 2).[0m ×2 + 66.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.483ms + 67.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.486ms + 67.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266801 ms (missed cycles : 2). + 67.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266801 ms (missed cycles : 2).[0m ×2 + 67.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.337ms + 67.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 68.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987976 ms (missed cycles : 2). + 68.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987976 ms (missed cycles : 2).[0m ×2 + 68.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.217ms + 69.18sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791700133.20971227 seconds ×3 + 69.21sINFOstate_estimatorReceived a set_pose request (stamp: 1791700133225565933, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 69.23sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 69.23sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 69.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294939 ms (missed cycles : 3). + 69.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294939 ms (missed cycles : 3).[0m ×2 + 69.41sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 69.41sWARNlocal_costmap.local_costmapSensor origin at (-3.60, 13.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 69.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.576ms + 69.51sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 69.51sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.41) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 69.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.72sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791700133.79368925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.346ms + 69.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 70.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166595 ms (missed cycles : 2). + 70.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166595 ms (missed cycles : 2).[0m ×2 + 70.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.036ms + 71.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864514 ms (missed cycles : 3). + 71.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864514 ms (missed cycles : 3).[0m ×2 + 72.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 72.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.5s	199 warnings · 229 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.364ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.434ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888594 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888594 ms (missed cycles : 3).[0m ×2 + 1.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.555ms + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.183ms + 2.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.610ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024450 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024450 ms (missed cycles : 4).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.752ms + 2.85sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.85sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791699907.62639928 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1791699907642170250, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.733ms + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791699908.21811843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881192 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881192 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOamclParticle filter update iteration stats: 1693 particles 811 points - 7.107ms + 3.51sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.51sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.51sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.51sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.986ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913275 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913275 ms (missed cycles : 3).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831744 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831744 ms (missed cycles : 2).[0m ×2 + 5.88sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×6 + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.32sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117028 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117028 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999358 ms (missed cycles : 4). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999358 ms (missed cycles : 4).[0m ×2 + 8.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.453ms + 8.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655254 ms (missed cycles : 3). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655254 ms (missed cycles : 3).[0m ×2 + 9.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.241ms + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940404 ms (missed cycles : 3). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940404 ms (missed cycles : 3).[0m ×2 + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.303ms + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834422 ms (missed cycles : 5). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834422 ms (missed cycles : 5).[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.675ms + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.308ms + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328858 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328858 ms (missed cycles : 2).[0m ×2 + 12.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.411ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.540ms + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645477 ms (missed cycles : 4). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645477 ms (missed cycles : 4).[0m ×2 + 14.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.404ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890235 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890235 ms (missed cycles : 2).[0m ×2 + 14.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.839ms + 15.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.697ms ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528454 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528454 ms (missed cycles : 3).[0m ×2 + 15.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.247ms + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.372ms + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831044 ms (missed cycles : 3). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831044 ms (missed cycles : 3).[0m ×2 + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.106ms + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.314ms + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105030 ms (missed cycles : 2). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105030 ms (missed cycles : 2).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.279ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.184ms + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.455ms + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028826 ms (missed cycles : 3). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028826 ms (missed cycles : 3).[0m ×2 + 19.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.413ms + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054851 ms (missed cycles : 4). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054851 ms (missed cycles : 4).[0m ×2 + 20.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.910ms + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.595ms + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358519 ms (missed cycles : 3). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358519 ms (missed cycles : 3).[0m ×2 + 21.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.423ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.047ms + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614481 ms (missed cycles : 3). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614481 ms (missed cycles : 3).[0m ×2 + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.351ms + 22.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.683ms + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714147 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714147 ms (missed cycles : 2).[0m ×2 + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.127ms ×2 + 23.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.087ms + 23.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.827ms + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690871 ms (missed cycles : 3). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690871 ms (missed cycles : 3).[0m ×2 + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.571ms + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669288 ms (missed cycles : 2). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669288 ms (missed cycles : 2).[0m ×2 + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.837ms + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.669ms + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566795 ms (missed cycles : 2). + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566795 ms (missed cycles : 2).[0m ×2 + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.708ms + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695955 ms (missed cycles : 2). + 27.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695955 ms (missed cycles : 2).[0m ×2 + 27.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.676ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.480ms + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.967ms + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858408 ms (missed cycles : 3). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858408 ms (missed cycles : 3).[0m ×2 + 28.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.722ms + 29.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800566 ms (missed cycles : 2). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800566 ms (missed cycles : 2).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.221ms + 30.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.904ms + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935336 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935336 ms (missed cycles : 2).[0m ×2 + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.806ms + 31.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.388ms + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226508 ms (missed cycles : 4). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226508 ms (missed cycles : 4).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.611ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.079ms + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595504 ms (missed cycles : 3). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595504 ms (missed cycles : 3).[0m ×2 + 32.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.835ms + 33.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.681ms + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126596 ms (missed cycles : 3). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126596 ms (missed cycles : 3).[0m ×2 + 34.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.579ms + 34.73sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093802 ms (missed cycles : 2). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093802 ms (missed cycles : 2).[0m ×2 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978356 ms (missed cycles : 2). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978356 ms (missed cycles : 2).[0m ×2 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894495 ms (missed cycles : 3). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894495 ms (missed cycles : 3).[0m ×2 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756461 ms (missed cycles : 2). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756461 ms (missed cycles : 2).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666704 ms (missed cycles : 3). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666704 ms (missed cycles : 3).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838446 ms (missed cycles : 3). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838446 ms (missed cycles : 3).[0m ×2 + 41.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.214ms + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977417 ms (missed cycles : 3). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977417 ms (missed cycles : 3).[0m ×2 + 42.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.708ms + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092664 ms (missed cycles : 4). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092664 ms (missed cycles : 4).[0m ×2 + 43.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359897 ms (missed cycles : 6). + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359897 ms (missed cycles : 6).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363443 ms (missed cycles : 4). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363443 ms (missed cycles : 4).[0m ×2 + 45.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.037ms + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696996 ms (missed cycles : 3). + 45.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696996 ms (missed cycles : 3).[0m ×2 + 46.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725027 ms (missed cycles : 3). + 46.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725027 ms (missed cycles : 3).[0m ×2 + 47.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337969 ms (missed cycles : 3). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337969 ms (missed cycles : 3).[0m ×2 + 48.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.548ms + 48.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717467 ms (missed cycles : 3). + 48.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717467 ms (missed cycles : 3).[0m ×2 + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091863 ms (missed cycles : 2). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091863 ms (missed cycles : 2).[0m ×2 + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314123 ms (missed cycles : 4). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314123 ms (missed cycles : 4).[0m ×2 + 51.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 51.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708355 ms (missed cycles : 4). + 51.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708355 ms (missed cycles : 4).[0m ×2 + 52.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180858 ms (missed cycles : 2). + 52.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180858 ms (missed cycles : 2).[0m ×2 + 53.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682815 ms (missed cycles : 2). + 53.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682815 ms (missed cycles : 2).[0m ×2 + 54.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029480 ms (missed cycles : 2). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029480 ms (missed cycles : 2).[0m ×2 + 55.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.281ms + 55.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692453 ms (missed cycles : 3). + 55.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692453 ms (missed cycles : 3).[0m ×2 + 56.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389872 ms (missed cycles : 3). + 56.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389872 ms (missed cycles : 3).[0m ×2 + 57.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2). + 57.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2).[0m ×2 + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3).[0m ×2 + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.716ms + 60.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2). + 60.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2).[0m ×2 + 60.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699965.12825108 seconds ×3 + 60.41sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 60.41sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 60.41sINFOstate_estimatorReceived a set_pose request (stamp: 1791699965150491858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.59sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.60sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.91sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.089ms + 60.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.93sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.98sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699965.72443509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2). + 61.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2).[0m ×2 + 61.37sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 61.72sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4). + 62.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4).[0m ×2 + 62.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 62.65sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 62.65sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0545519, y=-0.0164778, yaw=-0.0168819 + 62.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.852ms + 63.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3). + 63.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	226 warnings · 215 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.78sINFOobjective_server_nodename: "" ×4 + 3.78sINFOobjective_server_nodeinstance_id: "" ×4 + 3.78sINFOobjective_server_node ×4 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.62sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.62sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746237 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746237 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170604 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170604 ms (missed cycles : 2).[0m ×2 + 9.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.433ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072173 ms (missed cycles : 4). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072173 ms (missed cycles : 4).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.848ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526058 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526058 ms (missed cycles : 3).[0m ×2 + 10.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.025ms + 11.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.284ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725747 ms (missed cycles : 5). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725747 ms (missed cycles : 5).[0m ×2 + 11.88sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×8 + 12.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.511ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488359 ms (missed cycles : 4). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488359 ms (missed cycles : 4).[0m ×2 + 12.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.487ms + 13.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.250ms + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908632 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908632 ms (missed cycles : 2).[0m ×2 + 13.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.205ms + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.137ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313494 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313494 ms (missed cycles : 2).[0m ×2 + 14.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.635ms + 15.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.734ms + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513360 ms (missed cycles : 3). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513360 ms (missed cycles : 3).[0m ×2 + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.480ms + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.094ms + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.261ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835021 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835021 ms (missed cycles : 3).[0m ×2 + 16.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.27sWARNros2_control_nodeCamera render tick took 0.53 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 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.255ms + 17.30sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.940ms + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953865 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953865 ms (missed cycles : 2).[0m ×2 + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.832ms + 18.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.392ms + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767119 ms (missed cycles : 2). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767119 ms (missed cycles : 2).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.070ms + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.273ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616157 ms (missed cycles : 2). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616157 ms (missed cycles : 2).[0m ×2 + 20.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.736ms + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.669ms + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641777 ms (missed cycles : 2). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641777 ms (missed cycles : 2).[0m ×2 + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.065ms + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.172ms + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725747 ms (missed cycles : 3). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725747 ms (missed cycles : 3).[0m ×2 + 22.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.852ms + 22.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×6 + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.388ms + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395246 ms (missed cycles : 3). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395246 ms (missed cycles : 3).[0m ×2 + 23.34sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.364ms + 23.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.857ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807729 ms (missed cycles : 3). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807729 ms (missed cycles : 3).[0m ×2 + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.258ms + 24.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.675ms + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633048 ms (missed cycles : 3). + 25.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633048 ms (missed cycles : 3).[0m ×2 + 25.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.311ms + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.304ms + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709365 ms (missed cycles : 5). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709365 ms (missed cycles : 5).[0m ×2 + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.855ms + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.496ms + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054121 ms (missed cycles : 3). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054121 ms (missed cycles : 3).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.307ms + 27.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.130ms + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.463ms + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736128 ms (missed cycles : 3). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736128 ms (missed cycles : 3).[0m ×2 + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.281ms + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.025ms + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070843 ms (missed cycles : 2). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070843 ms (missed cycles : 2).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.434ms + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.079ms + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780771 ms (missed cycles : 2). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780771 ms (missed cycles : 2).[0m ×2 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.657ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.565ms + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438466 ms (missed cycles : 6). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438466 ms (missed cycles : 6).[0m ×2 + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.742ms + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.522ms + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505127 ms (missed cycles : 5). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505127 ms (missed cycles : 5).[0m ×2 + 32.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.452ms + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807756 ms (missed cycles : 2). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807756 ms (missed cycles : 2).[0m ×2 + 33.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.942ms + 33.81sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 34.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624465 ms (missed cycles : 6). + 34.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624465 ms (missed cycles : 6).[0m ×2 + 34.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.192ms + 35.04sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473020 ms (missed cycles : 3). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473020 ms (missed cycles : 3).[0m ×2 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966212 ms (missed cycles : 3). + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966212 ms (missed cycles : 3).[0m ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597082 ms (missed cycles : 2). + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597082 ms (missed cycles : 2).[0m ×2 + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005920 ms (missed cycles : 2). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005920 ms (missed cycles : 2).[0m ×2 + 39.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967989 ms (missed cycles : 3). + 39.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967989 ms (missed cycles : 3).[0m ×2 + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136955 ms (missed cycles : 2). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136955 ms (missed cycles : 2).[0m ×2 + 41.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.023ms + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.617543 ms (missed cycles : 4). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.617543 ms (missed cycles : 4).[0m ×2 + 42.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.761ms + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.194367 ms (missed cycles : 5). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.194367 ms (missed cycles : 5).[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396846 ms (missed cycles : 3). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396846 ms (missed cycles : 3).[0m ×2 + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558020 ms (missed cycles : 2). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558020 ms (missed cycles : 2).[0m ×2 + 45.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.943ms + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350381 ms (missed cycles : 3). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350381 ms (missed cycles : 3).[0m ×2 + 47.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115980 ms (missed cycles : 3). + 47.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115980 ms (missed cycles : 3).[0m ×2 + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542973 ms (missed cycles : 4). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542973 ms (missed cycles : 4).[0m ×2 + 48.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.557ms + 49.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708420 ms (missed cycles : 2). + 49.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708420 ms (missed cycles : 2).[0m ×2 + 50.17sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 50.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 50.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329822 ms (missed cycles : 3). + 50.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329822 ms (missed cycles : 3).[0m ×2 + 51.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433661 ms (missed cycles : 3). + 51.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433661 ms (missed cycles : 3).[0m ×2 + 52.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.312ms + 52.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813274 ms (missed cycles : 5). + 52.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813274 ms (missed cycles : 5).[0m ×2 + 53.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937253 ms (missed cycles : 2). + 53.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937253 ms (missed cycles : 2).[0m ×2 + 54.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377064 ms (missed cycles : 3). + 54.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377064 ms (missed cycles : 3).[0m ×2 + 55.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743434 ms (missed cycles : 2). + 55.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743434 ms (missed cycles : 2).[0m ×2 + 55.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.354ms + 56.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096502 ms (missed cycles : 3). + 56.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096502 ms (missed cycles : 3).[0m ×2 + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019801 ms (missed cycles : 4). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019801 ms (missed cycles : 4).[0m ×2 + 58.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712274 ms (missed cycles : 2). + 58.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712274 ms (missed cycles : 2).[0m ×2 + 60.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154107 ms (missed cycles : 2). + 60.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154107 ms (missed cycles : 2).[0m ×2 + 60.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.093ms + 60.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791700197.05495286 seconds ×3 + 60.63sINFOstate_estimatorReceived a set_pose request (stamp: 1791700197074001615, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.78sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.78sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715759 ms (missed cycles : 3). + 61.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715759 ms (missed cycles : 3).[0m ×2 + 61.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.14sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.19sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791700197.65749669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.21sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.541ms + 61.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.22sINFOamclInitializing particles from estimated pose and covariance + 61.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 61.64sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 61.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.209ms + 61.99sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240388 ms (missed cycles : 2). + 62.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240388 ms (missed cycles : 2).[0m ×2 + 63.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234371 ms (missed cycles : 2). + 63.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234371 ms (missed cycles : 2).[0m ×2 + 64.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946342 ms (missed cycles : 2). + 64.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946342 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	51.8s	217 warnings · 240 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.832ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157876 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157876 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.969ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.625ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313828 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313828 ms (missed cycles : 4).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.739ms + 1.95sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719594 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719594 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.401ms + 3.24sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.24sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700004.28764701 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931191 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931191 ms (missed cycles : 4).[0m ×2 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791700004307037956, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.12) is out of map bounds (-4.95, 5.20) to (0.03, 10.18). The costmap cannot raytrace for it. + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.15) is out of map bounds (-4.95, 5.20) to (0.03, 10.18). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.12) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700004.88590980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.072ms + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.88sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.848ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977492 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977492 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737587 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737587 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208606 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208606 ms (missed cycles : 5).[0m ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.72sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.72sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.72sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.72sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769536 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769536 ms (missed cycles : 3).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462354 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462354 ms (missed cycles : 3).[0m ×2 + 9.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.329ms + 9.55sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×6 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747929 ms (missed cycles : 5). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747929 ms (missed cycles : 5).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.333ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324969 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324969 ms (missed cycles : 2).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.229ms + 11.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.098ms + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456016 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456016 ms (missed cycles : 2).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.380ms + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907360 ms (missed cycles : 3). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907360 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.361ms + 13.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155390 ms (missed cycles : 4). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155390 ms (missed cycles : 4).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.455ms + 14.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.172ms + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142782 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142782 ms (missed cycles : 2).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.059ms + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.431ms + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927088 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927088 ms (missed cycles : 3).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.395ms + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.336ms + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995196 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995196 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.996ms + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.269ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.230ms + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490984 ms (missed cycles : 3). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490984 ms (missed cycles : 3).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.272ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.356ms + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068169 ms (missed cycles : 2). + 19.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068169 ms (missed cycles : 2).[0m ×2 + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.812ms + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.261ms + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004808 ms (missed cycles : 2). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004808 ms (missed cycles : 2).[0m ×2 + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.977ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.985ms + 21.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057353 ms (missed cycles : 4). + 21.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057353 ms (missed cycles : 4).[0m ×2 + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.225ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.545ms + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733989 ms (missed cycles : 3). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733989 ms (missed cycles : 3).[0m ×2 + 22.80sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 22.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.737ms + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.923ms + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597607 ms (missed cycles : 4). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597607 ms (missed cycles : 4).[0m ×2 + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.954ms + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.992ms + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794560 ms (missed cycles : 3). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794560 ms (missed cycles : 3).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.850ms + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.935ms + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113531 ms (missed cycles : 2). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113531 ms (missed cycles : 2).[0m ×2 + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.230ms + 26.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.371ms + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104373 ms (missed cycles : 2). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104373 ms (missed cycles : 2).[0m ×2 + 26.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.481ms + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 27.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.071ms + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548691 ms (missed cycles : 3). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548691 ms (missed cycles : 3).[0m ×2 + 28.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.800ms + 28.86sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 28.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.980ms + 28.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930862 ms (missed cycles : 3). + 28.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930862 ms (missed cycles : 3).[0m ×2 + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.065ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.178ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275576 ms (missed cycles : 3). + 30.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275576 ms (missed cycles : 3).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.244ms + 30.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.595ms + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646355 ms (missed cycles : 3). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646355 ms (missed cycles : 3).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.412ms + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.143ms + 32.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711567 ms (missed cycles : 3). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711567 ms (missed cycles : 3).[0m ×2 + 32.37sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.905ms + 32.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×8 + 32.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.410ms + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695659 ms (missed cycles : 5). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695659 ms (missed cycles : 5).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.149ms + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773259 ms (missed cycles : 5). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773259 ms (missed cycles : 5).[0m ×2 + 34.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.282ms + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874936 ms (missed cycles : 5). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874936 ms (missed cycles : 5).[0m ×2 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762782 ms (missed cycles : 2). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762782 ms (missed cycles : 2).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304191 ms (missed cycles : 3). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304191 ms (missed cycles : 3).[0m ×2 + 37.75sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.53sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 38.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960970 ms (missed cycles : 2). + 38.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960970 ms (missed cycles : 2).[0m ×2 + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.190847 ms (missed cycles : 5). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.190847 ms (missed cycles : 5).[0m ×2 + 40.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.715ms + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060226 ms (missed cycles : 3). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060226 ms (missed cycles : 3).[0m ×2 + 41.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.255ms + 41.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261813 ms (missed cycles : 2). + 41.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261813 ms (missed cycles : 2).[0m ×2 + 42.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.299ms + 42.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.611ms + 43.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755640 ms (missed cycles : 3). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755640 ms (missed cycles : 3).[0m ×2 + 43.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.615ms + 44.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.813ms + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640419 ms (missed cycles : 4). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640419 ms (missed cycles : 4).[0m ×2 + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724821 ms (missed cycles : 5). + 45.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724821 ms (missed cycles : 5).[0m ×2 + 46.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196329 ms (missed cycles : 4). + 46.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196329 ms (missed cycles : 4).[0m ×2 + 46.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.455ms + 47.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.761ms + 47.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608909 ms (missed cycles : 4). + 47.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608909 ms (missed cycles : 4).[0m ×2 + 47.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.765ms + 48.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.287ms + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002746 ms (missed cycles : 3). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002746 ms (missed cycles : 3).[0m ×2 + 48.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.432ms + 48.64sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 49.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.765ms + 49.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873926 ms (missed cycles : 2). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873926 ms (missed cycles : 2).[0m ×2 + 49.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.418ms + 50.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.057ms + 50.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511544 ms (missed cycles : 4). + 50.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511544 ms (missed cycles : 4).[0m ×2 + 51.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.502ms + 51.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337079 ms (missed cycles : 3). + 51.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337079 ms (missed cycles : 3).[0m ×2 + 52.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010337 ms (missed cycles : 4). + 52.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010337 ms (missed cycles : 4).[0m ×2 + 53.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.218ms + 53.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133134 ms (missed cycles : 3). + 53.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133134 ms (missed cycles : 3).[0m ×2 + 54.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.289ms + 54.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635343 ms (missed cycles : 3). + 54.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635343 ms (missed cycles : 3).[0m ×2 + 55.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791700056.05605197 seconds ×3 + 55.08sINFOstate_estimatorReceived a set_pose request (stamp: 1791700056073847335, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 55.13sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.56) is out of map bounds (-4.15, 5.15) to (0.83, 10.13). The costmap cannot raytrace for it. + 55.13sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.08) is out of map bounds (-4.15, 5.15) to (0.83, 10.13). The costmap cannot raytrace for it. + 55.23sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.56) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 55.23sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.08) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 55.33sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.33sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.132ms + 55.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.58sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.64sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791700056.65592837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290118 ms (missed cycles : 2). + 55.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290118 ms (missed cycles : 2).[0m ×2 + 56.10sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 56.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995783 ms (missed cycles : 5). + 56.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995783 ms (missed cycles : 5).[0m ×2 + 57.19sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184047 + 57.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.176ms + 58.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693454 ms (missed cycles : 3). + 58.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693454 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	141 warnings · 426 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.09sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.09sINFOobjective_server_nodecaller: ×12 + 1.09sINFOobjective_server_nodetype: 0 ×12 + 1.09sINFOobjective_server_nodename: "" ×12 + 1.09sINFOobjective_server_nodeinstance_id: "" ×12 + 1.09sINFOobjective_server_node ×12 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.14sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.16sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.16sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764522 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764522 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.404608 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.404608 ms (missed cycles : 4).[0m ×2 + 7.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.449ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111654 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111654 ms (missed cycles : 2).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488943 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488943 ms (missed cycles : 3).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754711 ms (missed cycles : 4). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.754711 ms (missed cycles : 4).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846913 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846913 ms (missed cycles : 2).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601826 ms (missed cycles : 5). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601826 ms (missed cycles : 5).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301312 ms (missed cycles : 3). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301312 ms (missed cycles : 3).[0m ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829678 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829678 ms (missed cycles : 2).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843617 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843617 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035318 ms (missed cycles : 3). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035318 ms (missed cycles : 3).[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088005 ms (missed cycles : 2). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088005 ms (missed cycles : 2).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935815 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935815 ms (missed cycles : 2).[0m ×2 + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356293 ms (missed cycles : 3). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356293 ms (missed cycles : 3).[0m ×2 + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750074 ms (missed cycles : 3). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750074 ms (missed cycles : 3).[0m ×2 + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676857 ms (missed cycles : 2). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676857 ms (missed cycles : 2).[0m ×2 + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.699ms + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841284 ms (missed cycles : 3). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841284 ms (missed cycles : 3).[0m ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704885 ms (missed cycles : 2). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704885 ms (missed cycles : 2).[0m ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432077 ms (missed cycles : 3). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432077 ms (missed cycles : 3).[0m ×2 + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604516 ms (missed cycles : 3). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604516 ms (missed cycles : 3).[0m ×2 + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074992 ms (missed cycles : 4). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074992 ms (missed cycles : 4).[0m ×2 + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826819 ms (missed cycles : 2). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826819 ms (missed cycles : 2).[0m ×2 + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122749 ms (missed cycles : 4). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122749 ms (missed cycles : 4).[0m ×2 + 31.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935597 ms (missed cycles : 2). + 31.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935597 ms (missed cycles : 2).[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586301 ms (missed cycles : 3). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586301 ms (missed cycles : 3).[0m ×2 + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299066 ms (missed cycles : 2). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299066 ms (missed cycles : 2).[0m ×2 + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388795 ms (missed cycles : 3). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388795 ms (missed cycles : 3).[0m ×2 + 35.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479695 ms (missed cycles : 3). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479695 ms (missed cycles : 3).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152747 ms (missed cycles : 2). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152747 ms (missed cycles : 2).[0m ×2 + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493952 ms (missed cycles : 3). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493952 ms (missed cycles : 3).[0m ×2 + 38.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.657ms + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045984 ms (missed cycles : 2). + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045984 ms (missed cycles : 2).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758197 ms (missed cycles : 3). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758197 ms (missed cycles : 3).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674085 ms (missed cycles : 2). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674085 ms (missed cycles : 2).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880243 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880243 ms (missed cycles : 2).[0m ×2 + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437878 ms (missed cycles : 4). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437878 ms (missed cycles : 4).[0m ×2 + 43.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203032 ms (missed cycles : 2). + 43.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203032 ms (missed cycles : 2).[0m ×2 + 44.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586930 ms (missed cycles : 3). + 44.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586930 ms (missed cycles : 3).[0m ×2 + 45.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081989 ms (missed cycles : 2). + 45.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081989 ms (missed cycles : 2).[0m ×2 + 46.80sINFOjoint_trajectory_controllerGoal reached, success! + 46.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699901.44960213 seconds ×3 + 46.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.86sINFOstate_estimatorReceived a set_pose request (stamp: 1791699901469097146, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128608 ms (missed cycles : 2). + 46.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128608 ms (missed cycles : 2).[0m ×2 + 47.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.36sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.081ms + 47.40sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699902.03627419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421813 ms (missed cycles : 4). + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421813 ms (missed cycles : 4).[0m ×2 + 48.55sINFOobjective_server_nodeFound path in 0 iterations (3.3312e-05 s). ×2 + 48.62sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg) + 48.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg)[0m ×2 + 48.97sINFOamclInitializing particles from estimated pose and covariance + 48.97sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0483423, y=-0.0214502, yaw=-0.0017991 + 49.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716562 ms (missed cycles : 3). + 49.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716562 ms (missed cycles : 3).[0m ×2 + 49.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.437ms + 49.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.911ms + 50.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	128 warnings · 193 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627855 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627855 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931624 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931624 ms (missed cycles : 2).[0m ×2 + 1.51sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.51sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.56sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791699971.55459571 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743899 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743899 ms (missed cycles : 2).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_node ×4 + 3.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791699973.15750599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545159 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545159 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229822 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229822 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285929 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285929 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192954 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192954 ms (missed cycles : 5).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820373 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820373 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737792 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737792 ms (missed cycles : 2).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.615ms + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364360 ms (missed cycles : 4). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364360 ms (missed cycles : 4).[0m ×2 + 9.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.917ms + 10.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.119ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320978 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320978 ms (missed cycles : 3).[0m ×2 + 11.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.639ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724652 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724652 ms (missed cycles : 3).[0m ×2 + 12.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.006ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108540 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108540 ms (missed cycles : 2).[0m ×2 + 13.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.052ms + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315383 ms (missed cycles : 2). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315383 ms (missed cycles : 2).[0m ×2 + 13.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.794ms + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.027ms + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.940ms + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082996 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082996 ms (missed cycles : 3).[0m ×2 + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.434ms + 15.32sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.010ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650647 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650647 ms (missed cycles : 2).[0m ×2 + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.197ms + 16.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.453ms + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050124 ms (missed cycles : 5). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050124 ms (missed cycles : 5).[0m ×2 + 17.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.744ms + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.716ms + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590069 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590069 ms (missed cycles : 2).[0m ×2 + 18.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.980ms + 18.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.935ms + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347256 ms (missed cycles : 2). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347256 ms (missed cycles : 2).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.651ms + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.130ms + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522726 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522726 ms (missed cycles : 3).[0m ×2 + 20.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.869ms + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.236ms + 21.18sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094783 ms (missed cycles : 2). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094783 ms (missed cycles : 2).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.929ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.486ms + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719555 ms (missed cycles : 2). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719555 ms (missed cycles : 2).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.100ms + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.544ms + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634602 ms (missed cycles : 3). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634602 ms (missed cycles : 3).[0m ×2 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.609ms + 24.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.784ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255525 ms (missed cycles : 2). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255525 ms (missed cycles : 2).[0m ×2 + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.649ms + 25.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.329ms + 25.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.814ms + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715107 ms (missed cycles : 3). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715107 ms (missed cycles : 3).[0m ×2 + 26.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.049ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.261ms + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484514 ms (missed cycles : 4). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484514 ms (missed cycles : 4).[0m ×2 + 27.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.031ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.801ms + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911017 ms (missed cycles : 4). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911017 ms (missed cycles : 4).[0m ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.865ms + 28.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.110ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252054 ms (missed cycles : 2). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252054 ms (missed cycles : 2).[0m ×2 + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.939ms + 29.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.214ms + 30.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.099ms + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104604 ms (missed cycles : 2). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104604 ms (missed cycles : 2).[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.595ms + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.832ms + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157876 ms (missed cycles : 3). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157876 ms (missed cycles : 3).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.969ms + 31.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.625ms + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313828 ms (missed cycles : 4). + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313828 ms (missed cycles : 4).[0m ×2 + 32.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.739ms + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719594 ms (missed cycles : 3). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719594 ms (missed cycles : 3).[0m ×2 + 33.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.401ms + 34.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700004.28764701 seconds ×3 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931191 ms (missed cycles : 4). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931191 ms (missed cycles : 4).[0m ×2 + 34.33sINFOstate_estimatorReceived a set_pose request (stamp: 1791700004307037956, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.35sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.12) is out of map bounds (-4.95, 5.20) to (0.03, 10.18). The costmap cannot raytrace for it. + 34.35sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.15) is out of map bounds (-4.95, 5.20) to (0.03, 10.18). The costmap cannot raytrace for it. + 34.45sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.12) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 34.45sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 34.55sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.55sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.84sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700004.88590980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.90sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.072ms + 34.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 34.90sINFOamclInitializing particles from estimated pose and covariance + 34.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 34.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 35.31sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 35.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.848ms + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977492 ms (missed cycles : 2). + 35.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977492 ms (missed cycles : 2).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737587 ms (missed cycles : 3). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737587 ms (missed cycles : 3).[0m ×2 + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208606 ms (missed cycles : 5). + 37.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208606 ms (missed cycles : 5).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.5s	78 warnings · 257 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019801 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019801 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712274 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712274 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154107 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154107 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.093ms + 2.64sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.64sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791700197.05495286 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOstate_estimatorReceived a set_pose request (stamp: 1791700197074001615, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715759 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715759 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.24sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.24sINFOobjective_server_nodecaller: ×6 + 3.24sINFOobjective_server_nodetype: 0 ×6 + 3.24sINFOobjective_server_nodename: "" ×6 + 3.24sINFOobjective_server_nodeinstance_id: "" ×6 + 3.24sINFOobjective_server_node ×6 + 3.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791700197.65749669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.541ms + 3.32sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.32sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.32sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.32sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 3.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.209ms + 4.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240388 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240388 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234371 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234371 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946342 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946342 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707178 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707178 ms (missed cycles : 2).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000874 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000874 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248756 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248756 ms (missed cycles : 2).[0m ×2 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 9.99sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 10.17sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.23sINFOobjective_server_nodeFound path in 0 iterations (7.43e-07 s). ×2 + 10.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.62sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406864 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406864 ms (missed cycles : 3).[0m ×2 + 11.02sINFOobjective_server_nodeFound path in 33 iterations (0.0370332 s). ×2 + 11.53sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.60sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478800 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478800 ms (missed cycles : 3).[0m ×2 + 12.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.32sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878178 ms (missed cycles : 5). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878178 ms (missed cycles : 5).[0m ×2 + 12.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.21sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233481 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233481 ms (missed cycles : 2).[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998476 ms (missed cycles : 5). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998476 ms (missed cycles : 5).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.397ms + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063287 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063287 ms (missed cycles : 2).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.473ms + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424601 ms (missed cycles : 3). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424601 ms (missed cycles : 3).[0m ×2 + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.638ms + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187126 ms (missed cycles : 3). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187126 ms (missed cycles : 3).[0m ×2 + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.793ms + 19.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700213.57162976 seconds ×3 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897125 ms (missed cycles : 2). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897125 ms (missed cycles : 2).[0m ×2 + 19.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791700213591942915, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700214.20051694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.84sINFOmove_groupClearing octomap...[0m ×2 + 19.84sINFOmove_groupOctomap cleared.[0m ×2 + 19.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 5.719ms + 20.10sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568085, y=-0.0171819, yaw=-0.0184017 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315646 ms (missed cycles : 2). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315646 ms (missed cycles : 2).[0m ×2 + 20.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700214.91098237 seconds ×3 + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.192ms + 21.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.09sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700215.49287128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823387 ms (missed cycles : 4). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823387 ms (missed cycles : 4).[0m ×2 + 21.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700216.29299712 seconds ×3 + 22.17sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153658 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153658 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.4s	118 errors · 30 warnings · 584 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.638ms + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187126 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187126 ms (missed cycles : 3).[0m ×2 + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.793ms + 1.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.87sINFOjoint_trajectory_controllerGoal reached, success! + 1.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700213.57162976 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897125 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897125 ms (missed cycles : 2).[0m ×2 + 1.93sINFOstate_estimatorReceived a set_pose request (stamp: 1791700213591942915, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700214.20051694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 5.719ms + 2.78sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.78sINFOamclInitializing particles from estimated pose and covariance + 2.78sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.78sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568085, y=-0.0171819, yaw=-0.0184017 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315646 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315646 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700214.91098237 seconds ×3 + 3.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.192ms + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700215.49287128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823387 ms (missed cycles : 4). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823387 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700216.29299712 seconds ×3 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153658 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153658 ms (missed cycles : 2).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864655 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864655 ms (missed cycles : 2).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390904 ms (missed cycles : 4). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390904 ms (missed cycles : 4).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556410 ms (missed cycles : 3). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556410 ms (missed cycles : 3).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834167 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834167 ms (missed cycles : 2).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151717 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151717 ms (missed cycles : 2).[0m ×2 + 10.37sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.39sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORweb_video_auth_proxy-41process has died [pid 8144, 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 + 10.39sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.41sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_bridge_auth_proxy-40process has died [pid 8143, 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 + 10.41sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.44sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.45sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.46sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.48sINFOvideo_server-39process has finished cleanly [pid 8142] ×2 + 10.48sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.49sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.50sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.51sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.52sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.54sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.54sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.55sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.56sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.58sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.59sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.60sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.62sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.62sINFOcontroller_managerShutdown request received.... + 10.62sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.62sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.62sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.62sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.62sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.62sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.62sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.63sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.63sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.63sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.63sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.63sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.63sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.63sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.63sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.63sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.63sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.63sINFOcontroller_managerShutting down the controller manager. + 10.63sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.65sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.66sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.67sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.67sERRORmove_group-25process has died [pid 8096, 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_dt8d5zzu --params-file /tmp/launch_params_79i4kziw --params-file /tmp/launch_params_cb7t2lhp --params-file /tmp/launch_params__8jqhk58 --params-file /tmp/launch_params_p3sjwnka --params-file /tmp/launch_params_zl1x42bp']. ×2 + 10.68sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.69sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.70sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.71sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.72sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.73sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.74sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.74sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.74sINFOmap_serverDeactivating + 10.74sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.75sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.75sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.75sINFOcontroller_serverDeactivating + 10.75sINFOlocal_costmap.local_costmapDeactivating + 10.75sINFOvideo_server2026/10/11 06:30:22 INF shutting down gracefully ×2 + 10.75sINFOvideo_server2026/10/11 06:30:22 INF [WebRTC] closing ×2 + 10.75sINFOvideo_server2026/10/11 06:30:22 INF [RTSP] closing ×2 + 10.75sINFOvideo_server2026/10/11 06:30:22 INF waiting for running hooks ×2 + 10.75sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.75sINFOmap_serverCleaning up + 10.75sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.75sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.75sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.75sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.76sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.76sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.76sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.76sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.76sERRORmove_groupStack trace (most recent call last) in thread 8737: ×2 + 10.76sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.76sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc07bc57cc3, in __clone ×2 + 10.76sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc07bbcab83, in ×2 + 10.76sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc07be5bdb3, in ×2 + 10.76sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.76sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.76sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.76sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.76sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.76sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.76sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.76sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.76sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.76sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.76sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.76sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.76sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.76sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.76sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.76sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fc07c5c3f14, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.76sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc07c1ef620, in rclcpp::Rate::sleep() ×2 + 10.76sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc07c131d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.76sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc07c0f3087, in ×2 + 10.76sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc07be2a390, in __cxa_throw ×2 + 10.76sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc07be14a54, in std::terminate() ×2 + 10.76sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc07be2a0d9, in ×2 + 10.76sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc07be14ff4, in ×2 + 10.76sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc07bb568fe, in abort ×2 + 10.76sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc07bb7327d, in raise ×2 + 10.76sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc07bbccc0c, in pthread_kill ×2 + 10.76sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.76sERRORmove_groupAborted (Signal sent by tkill() 8096 0) ×2 + 10.76sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.76sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.76sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.76sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sERRORamclThe bond connection to the lifecycle manager has been broken + 10.77sINFOcontroller_serverCleaning up + 10.77sINFOlocal_costmap.local_costmapCleaning up + 10.81sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.81sINFOsmoother_serverDeactivating + 10.81sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.82sINFOsmoother_serverCleaning up + 10.84sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.84sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.84sINFOplanner_serverDeactivating + 10.84sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.84sINFOglobal_costmap.global_costmapDeactivating + 10.84sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.92sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.92sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.92sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.92sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.92sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.92sINFOvelocity_smootherDeactivating + 10.92sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.04sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.04sINFOwaypoint_followerDeactivating + 11.04sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.15sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.15sINFObt_navigatorDeactivating + 11.15sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.26sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.26sINFObehavior_serverDeactivating + 11.26sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.38sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.38sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.38sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.38sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.38sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.38sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.38sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.38sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.38sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.38sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.38sINFOvelocity_smootherCleaning up + 11.38sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.38sINFOwaypoint_followerCleaning up + 11.41sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.41sINFObt_navigatorCleaning up + 11.48sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.48sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.49sINFOplanner_serverCleaning up + 11.51sINFOglobal_costmap.global_costmapCleaning up + 11.51sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.51sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.51sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.52sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOjoint_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 + 11.52sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.52sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.52sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.52sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.52sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8141] ×2 + 11.52sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.52sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.52sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.52sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.52sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.52sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.52sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.52sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.52sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.52sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.52sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.52sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.52sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.52sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.52sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOtf_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 + 11.52sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.52sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.52sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.52sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.52sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.52sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.52sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.52sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.52sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.52sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.52sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.52sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.52sINFOtf_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.56sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.56sINFObehavior_serverCleaning up + 11.56sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.56sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.56sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.56sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.58sERRORjoint_state_visualization_relay-37process has died [pid 8140, 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_syfxau95']. ×2 + 11.58sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.59sERRORtf_visualization_relay-36process has died [pid 8139, 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_ktzgefjq']. ×2 + 11.59sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.60sINFObt_navigatorCompleted Cleaning up + 11.60sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.62sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8104] ×2 + 11.63sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8101] ×2 + 11.64sINFOui_teleop_bridge-34process has finished cleanly [pid 8131] ×2 + 11.65sINFOexecute_objective_bridge-33process has finished cleanly [pid 8130] ×2 + 11.65sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.66sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.66sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.66sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.66sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.66sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.66sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.66sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.68sINFOparameter_manager_node-26process has finished cleanly [pid 8097] ×2 + 11.69sINFOwaypoint_manager_node-27process has finished cleanly [pid 8100] ×2 + 11.70sINFOrelay-11process has finished cleanly [pid 8029] ×2 + 11.71sINFOrelay-10process has finished cleanly [pid 8028] ×2 + 11.71sINFOcomponent_container_mt-32process has finished cleanly [pid 8126] ×2 + 11.72sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7924] ×2 + 11.73sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8030] ×2 + 11.73sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7923] ×2 + 11.74sINFOstatic_transform_publisher-7process has finished cleanly [pid 7922] ×2 + 11.75sINFOstatic_transform_publisher-6process has finished cleanly [pid 7921] ×2 + 11.75sINFOobjective_server_node[2026-10-11 06:30:23.431] [moveit_pro_license] [critical] ×2 + 11.75sINFOobjective_server_node************************************************* ×4 + 11.75sINFOobjective_server_node* MoveIt Pro License ×2 + 11.75sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.76sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.76sINFOlidar_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 + 11.76sINFOlidar_flattener.pymain() ×2 + 11.76sINFOlidar_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 + 11.76sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.76sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.76sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.76sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.76sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.76sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.76sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.76sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.76sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.76sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.76sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.76sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.76sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.76sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.78sINFOstatic_transform_publisher-3process has finished cleanly [pid 7918] ×2 + 11.81sERRORlidar_flattener.py-5process has died [pid 7920, 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_2b6omqlm']. ×2 + 11.83sINFOobjective_server_node_main-30process has finished cleanly [pid 8106] ×2 + 11.83sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 11.93sERRORcomponent_container_isolated-1process has died [pid 7916, 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_0tt15km2 --params-file /tmp/launch_params_pmi7zell -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.09sERRORcomponent_container_isolated-2process has died [pid 7917, 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_0tt15km2 --params-file /tmp/launch_params_4es1_76l -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.75sINFOcomponent_container_mt-31process has finished cleanly [pid 8107] ×2 + 12.77sINFOodom_world_drift-4process has finished cleanly [pid 7919] ×2 + 13.35sINFOros2_control_node-13process has finished cleanly [pid 8031] ×2 + 13.55sINFOweb_bridge-35process has finished cleanly [pid 8136] ×2 + 13.55sINFOlaunchprocess[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 · 78 warnings · 170 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010337 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010337 ms (missed cycles : 4).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.218ms ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133134 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133134 ms (missed cycles : 3).[0m ×2 + 1.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.289ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635343 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635343 ms (missed cycles : 3).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791700056.05605197 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.56sINFOstate_estimatorReceived a set_pose request (stamp: 1791700056073847335, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.56) is out of map bounds (-4.15, 5.15) to (0.83, 10.13). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.08) is out of map bounds (-4.15, 5.15) to (0.83, 10.13). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.56) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.08) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 11.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-2.85, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.04sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.132ms + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.12sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791700056.65592837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290118 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290118 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995783 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995783 ms (missed cycles : 5).[0m ×2 + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.67sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.67sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184047 + 4.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.176ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693454 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693454 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423978 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423978 ms (missed cycles : 3).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944323 ms (missed cycles : 4). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944323 ms (missed cycles : 4).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.568ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429279 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429279 ms (missed cycles : 2).[0m ×2 + 9.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.177ms + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746338 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746338 ms (missed cycles : 3).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.754ms + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.934ms + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280449 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280449 ms (missed cycles : 3).[0m ×2 + 10.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.227ms + 11.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 11.47sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 11.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.424ms + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566710 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566710 ms (missed cycles : 2).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.291ms + 12.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.552ms + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058377 ms (missed cycles : 5). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058377 ms (missed cycles : 5).[0m ×2 + 13.51sINFOobjective_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 + 13.51sINFOjoint_trajectory_controllerGot request to cancel goal + 13.51sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.51sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.52sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791700067.09360838 seconds ×3 + 13.60sINFOstate_estimatorReceived a set_pose request (stamp: 1791700067110302753, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.71sWARNlocal_costmap.local_costmapSensor origin at (-0.53, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.71sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 2.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.592ms + 13.91sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.91sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.16sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791700067.68940401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985494 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985494 ms (missed cycles : 2).[0m ×2 + 14.36sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.206ms + 14.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568297, y=-0.0171817, yaw=-0.0184023 + 14.56sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 14.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.753ms + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299910 ms (missed cycles : 2). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299910 ms (missed cycles : 2).[0m ×2 + 15.82sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321737 ms (missed cycles : 4). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321737 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	50 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.716ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.35sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699965.12825108 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.43sINFOstate_estimatorReceived a set_pose request (stamp: 1791699965150491858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.089ms + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699965.72443509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 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 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4).[0m ×2 + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.67sINFOamclInitializing particles from estimated pose and covariance + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.67sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0545519, y=-0.0164778, yaw=-0.0168819 + 4.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.852ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563783 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563783 ms (missed cycles : 3).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627855 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627855 ms (missed cycles : 4).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931624 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931624 ms (missed cycles : 2).[0m ×2 + 8.83sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791699971.55459571 seconds ×3 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743899 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743899 ms (missed cycles : 2).[0m ×2 + 10.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.37sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.43sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791699973.15750599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545159 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545159 ms (missed cycles : 3).[0m ×2 + 10.65sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.83sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229822 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229822 ms (missed cycles : 3).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285929 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285929 ms (missed cycles : 2).[0m ×2 + 13.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	54 warnings · 149 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.610ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715448 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715448 ms (missed cycles : 2).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.483ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.486ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266801 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266801 ms (missed cycles : 2).[0m ×2 + 1.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.337ms + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987976 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987976 ms (missed cycles : 2).[0m ×2 + 2.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.217ms + 3.10sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.10sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791700133.20971227 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOstate_estimatorReceived a set_pose request (stamp: 1791700133225565933, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.17sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 3.17sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294939 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294939 ms (missed cycles : 3).[0m ×2 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.60, 13.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.576ms + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.41) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791700133.79368925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.346ms + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.88sINFOamclInitializing particles from estimated pose and covariance + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 4.20sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.20sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.20sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.20sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166595 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166595 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.036ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864514 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864514 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 9.61sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 10.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.15sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.59sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 12.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	38 warnings · 163 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203032 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203032 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586930 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586930 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081989 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081989 ms (missed cycles : 2).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699901.44960213 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOstate_estimatorReceived a set_pose request (stamp: 1791699901469097146, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128608 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128608 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.081ms + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699902.03627419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421813 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421813 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.3312e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.80sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg) + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg)[0m ×2 + 5.13sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0483423, y=-0.0214502, yaw=-0.0017991 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716562 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716562 ms (missed cycles : 3).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.437ms + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.911ms + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3).[0m ×2 + 6.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.364ms + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.434ms + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888594 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888594 ms (missed cycles : 3).[0m ×2 + 7.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.555ms + 8.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.183ms + 8.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.610ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024450 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024450 ms (missed cycles : 4).[0m ×2 + 8.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.752ms + 9.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791699907.62639928 seconds ×3 + 9.18sINFOstate_estimatorReceived a set_pose request (stamp: 1791699907642170250, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.733ms + 9.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.70sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791699908.21811843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881192 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881192 ms (missed cycles : 2).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 1693 particles 811 points - 7.107ms + 9.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 9.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 9.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 10.18sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 10.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.986ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913275 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913275 ms (missed cycles : 3).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831744 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831744 ms (missed cycles : 2).[0m ×2 + 12.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 12.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	24 warnings · 128 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063287 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063287 ms (missed cycles : 2).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.473ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424601 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424601 ms (missed cycles : 3).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.638ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187126 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187126 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.793ms + 2.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700213.57162976 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897125 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897125 ms (missed cycles : 2).[0m ×2 + 3.09sINFOstate_estimatorReceived a set_pose request (stamp: 1791700213591942915, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700214.20051694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.94sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 5.719ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568085, y=-0.0171819, yaw=-0.0184017 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315646 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315646 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700214.91098237 seconds ×3 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.192ms + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.94sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700215.49287128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823387 ms (missed cycles : 4). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823387 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700216.29299712 seconds ×3 + 6.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153658 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153658 ms (missed cycles : 2).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864655 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864655 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 2.580685 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.36sINFOobjective_server_nodecaller: ×10 + 2.36sINFOobjective_server_nodetype: 0 ×10 + 2.36sINFOobjective_server_nodename: "" ×10 + 2.36sINFOobjective_server_nodeinstance_id: "" ×10 + 2.36sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.42sINFOmove_groupClearing octomap...[0m ×4 + 2.42sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 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 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][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 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.09sINFOobjective_server_nodecaller: ×10 + 1.09sINFOobjective_server_nodetype: 0 ×10 + 1.09sINFOobjective_server_nodename: "" ×10 + 1.09sINFOobjective_server_nodeinstance_id: "" ×10 + 1.09sINFOobjective_server_node ×10 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.14sINFOmove_groupClearing octomap...[0m ×4 + 1.15sINFOmove_groupOctomap cleared.[0m ×4 + 1.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.16sINFOjoint_trajectory_controllerReceived new action goal + 5.16sINFOjoint_trajectory_controllerAccepted new action goal + 5.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764522 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764522 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203032 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203032 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586930 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586930 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081989 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081989 ms (missed cycles : 2).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699901.44960213 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOstate_estimatorReceived a set_pose request (stamp: 1791699901469097146, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128608 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128608 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.081ms + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699902.03627419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421813 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421813 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.3312e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg) + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg)[0m ×2 + 5.13sINFOamclInitializing particles from estimated pose and covariance + 5.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0483423, y=-0.0214502, yaw=-0.0017991 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716562 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716562 ms (missed cycles : 3).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.437ms + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.911ms + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203032 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203032 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586930 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586930 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081989 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081989 ms (missed cycles : 2).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791699901.44960213 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOstate_estimatorReceived a set_pose request (stamp: 1791699901469097146, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128608 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128608 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.081ms + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791699902.03627419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421813 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421813 ms (missed cycles : 4).[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.3312e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg) + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.1 deg)[0m ×2 + 5.13sINFOamclInitializing particles from estimated pose and covariance + 5.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0483423, y=-0.0214502, yaw=-0.0017991 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716562 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716562 ms (missed cycles : 3).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.437ms + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.911ms + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3).[0m ×2
− 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 2.580685 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.36sINFOobjective_server_nodecaller: ×10 + 2.36sINFOobjective_server_nodetype: 0 ×10 + 2.36sINFOobjective_server_nodename: "" ×10 + 2.36sINFOobjective_server_nodeinstance_id: "" ×10 + 2.36sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.42sINFOmove_groupClearing octomap...[0m ×4 + 2.42sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 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 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][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 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	20 warnings · 85 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042306 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.364ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.434ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888594 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888594 ms (missed cycles : 3).[0m ×2 + 1.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.555ms + 1.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.183ms + 2.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.610ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024450 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024450 ms (missed cycles : 4).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.752ms + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791699907.62639928 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1791699907642170250, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.733ms + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791699908.21811843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881192 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881192 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOamclParticle filter update iteration stats: 1693 particles 811 points - 7.107ms + 3.51sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.51sINFOamclInitializing particles from estimated pose and covariance + 3.51sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.51sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.986ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913275 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913275 ms (missed cycles : 3).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831744 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831744 ms (missed cycles : 2).[0m ×2 + 5.88sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_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 1.818838 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.716ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699965.12825108 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.43sINFOstate_estimatorReceived a set_pose request (stamp: 1791699965150491858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.089ms + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699965.72443509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.77sINFOjoint_trajectory_controllerReceived new action goal + 3.77sINFOjoint_trajectory_controllerAccepted new action goal + 3.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4).[0m ×2 + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.67sINFOamclInitializing particles from estimated pose and covariance + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.67sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0545519, y=-0.0164778, yaw=-0.0168819 + 4.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.852ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 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 1.818838 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.716ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699965.12825108 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.43sINFOstate_estimatorReceived a set_pose request (stamp: 1791699965150491858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.089ms + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699965.72443509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.77sINFOjoint_trajectory_controllerReceived new action goal + 3.77sINFOjoint_trajectory_controllerAccepted new action goal + 3.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4).[0m ×2 + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.67sINFOamclInitializing particles from estimated pose and covariance + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.67sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0545519, y=-0.0164778, yaw=-0.0168819 + 4.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.852ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 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 1.818838 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.716ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699965.12825108 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.43sINFOstate_estimatorReceived a set_pose request (stamp: 1791699965150491858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.089ms + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699965.72443509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.77sINFOjoint_trajectory_controllerReceived new action goal + 3.77sINFOjoint_trajectory_controllerAccepted new action goal + 3.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4).[0m ×2 + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.67sINFOamclInitializing particles from estimated pose and covariance + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.67sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0545519, y=-0.0164778, yaw=-0.0168819 + 4.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.852ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 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 1.818838 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.716ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699965.12825108 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.43sINFOstate_estimatorReceived a set_pose request (stamp: 1791699965150491858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.089ms + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699965.72443509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.77sINFOjoint_trajectory_controllerReceived new action goal + 3.77sINFOjoint_trajectory_controllerAccepted new action goal + 3.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4).[0m ×2 + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.67sINFOamclInitializing particles from estimated pose and covariance + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.67sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0545519, y=-0.0164778, yaw=-0.0168819 + 4.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.852ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 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 1.818838 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.716ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699965.12825108 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.43sINFOstate_estimatorReceived a set_pose request (stamp: 1791699965150491858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.089ms + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699965.72443509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.77sINFOjoint_trajectory_controllerReceived new action goal + 3.77sINFOjoint_trajectory_controllerAccepted new action goal + 3.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4).[0m ×2 + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.67sINFOamclInitializing particles from estimated pose and covariance + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.67sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0545519, y=-0.0164778, yaw=-0.0168819 + 4.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.852ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 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 1.818838 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.716ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699965.12825108 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.43sINFOstate_estimatorReceived a set_pose request (stamp: 1791699965150491858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.089ms + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699965.72443509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.77sINFOjoint_trajectory_controllerReceived new action goal + 3.77sINFOjoint_trajectory_controllerAccepted new action goal + 3.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4).[0m ×2 + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.67sINFOamclInitializing particles from estimated pose and covariance + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.67sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0545519, y=-0.0164778, yaw=-0.0168819 + 4.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.852ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 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 1.818838 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818838 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093039 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.716ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915929 ms (missed cycles : 2).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791699965.12825108 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.43sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.43sINFOstate_estimatorReceived a set_pose request (stamp: 1791699965150491858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.089ms + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791699965.72443509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300284 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.77sINFOjoint_trajectory_controllerReceived new action goal + 3.77sINFOjoint_trajectory_controllerAccepted new action goal + 3.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562055 ms (missed cycles : 4).[0m ×2 + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.67sINFOamclInitializing particles from estimated pose and covariance + 4.67sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.67sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0545519, y=-0.0164778, yaw=-0.0168819 + 4.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.852ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608683 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	35 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.832ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157876 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157876 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.969ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.625ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313828 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313828 ms (missed cycles : 4).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.739ms + 1.95sWARNros2_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 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719594 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719594 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.401ms + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700004.28764701 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931191 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931191 ms (missed cycles : 4).[0m ×2 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791700004307037956, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.12) is out of map bounds (-4.95, 5.20) to (0.03, 10.18). The costmap cannot raytrace for it. + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.15) is out of map bounds (-4.95, 5.20) to (0.03, 10.18). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.12) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700004.88590980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.072ms + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.88sINFOamclInitializing particles from estimated pose and covariance + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.848ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977492 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977492 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737587 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737587 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208606 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208606 ms (missed cycles : 5).[0m ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.72sINFOjoint_trajectory_controllerReceived new action goal + 6.72sINFOjoint_trajectory_controllerAccepted new action goal + 6.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.72sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	35 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.832ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157876 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157876 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.969ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.625ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313828 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313828 ms (missed cycles : 4).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.739ms + 1.95sWARNros2_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 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719594 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719594 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.401ms + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700004.28764701 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931191 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931191 ms (missed cycles : 4).[0m ×2 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791700004307037956, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.12) is out of map bounds (-4.95, 5.20) to (0.03, 10.18). The costmap cannot raytrace for it. + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.15) is out of map bounds (-4.95, 5.20) to (0.03, 10.18). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.12) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700004.88590980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.072ms + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.88sINFOamclInitializing particles from estimated pose and covariance + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.848ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977492 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977492 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737587 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737587 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208606 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208606 ms (missed cycles : 5).[0m ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.72sINFOjoint_trajectory_controllerReceived new action goal + 6.72sINFOjoint_trajectory_controllerAccepted new action goal + 6.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.72sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	35 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.832ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157876 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157876 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.969ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.625ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313828 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313828 ms (missed cycles : 4).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.739ms + 1.95sWARNros2_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 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719594 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719594 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.401ms + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700004.28764701 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931191 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931191 ms (missed cycles : 4).[0m ×2 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791700004307037956, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.12) is out of map bounds (-4.95, 5.20) to (0.03, 10.18). The costmap cannot raytrace for it. + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.15) is out of map bounds (-4.95, 5.20) to (0.03, 10.18). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.69, 13.12) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.59, 13.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700004.88590980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.072ms + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.88sINFOamclInitializing particles from estimated pose and covariance + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056891, y=-0.0171801, yaw=-0.0184004 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.848ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977492 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977492 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737587 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737587 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208606 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208606 ms (missed cycles : 5).[0m ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.72sINFOjoint_trajectory_controllerReceived new action goal + 6.72sINFOjoint_trajectory_controllerAccepted new action goal + 6.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.72sINFOros2_control_nodeAccepted new action goal[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 2.580685 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.36sINFOobjective_server_nodecaller: ×10 + 2.36sINFOobjective_server_nodetype: 0 ×10 + 2.36sINFOobjective_server_nodename: "" ×10 + 2.36sINFOobjective_server_nodeinstance_id: "" ×10 + 2.36sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.42sINFOmove_groupClearing octomap...[0m ×4 + 2.42sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 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 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][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 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040846 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296662 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636031 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700139.69381976 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436957 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700140.29480386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074062 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512317 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726295 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 128 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063287 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063287 ms (missed cycles : 2).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.473ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424601 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424601 ms (missed cycles : 3).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.638ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187126 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187126 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.793ms + 2.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700213.57162976 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897125 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897125 ms (missed cycles : 2).[0m ×2 + 3.09sINFOstate_estimatorReceived a set_pose request (stamp: 1791700213591942915, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700214.20051694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.94sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 5.719ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.94sINFOamclInitializing particles from estimated pose and covariance + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568085, y=-0.0171819, yaw=-0.0184017 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315646 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315646 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700214.91098237 seconds ×3 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.192ms + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.94sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700215.49287128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823387 ms (missed cycles : 4). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823387 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700216.29299712 seconds ×3 + 6.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153658 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153658 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 346 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.36sINFOobjective_server_nodecaller: ×10 + 2.36sINFOobjective_server_nodetype: 0 ×10 + 2.36sINFOobjective_server_nodename: "" ×10 + 2.36sINFOobjective_server_nodeinstance_id: "" ×10 + 2.36sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.42sINFOmove_groupClearing octomap...[0m ×4 + 2.42sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 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 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][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 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 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 1.847881 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847881 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.41sINFOobjective_server_nodecaller: ×10 + 3.41sINFOobjective_server_nodetype: 0 ×10 + 3.41sINFOobjective_server_nodename: "" ×10 + 3.41sINFOobjective_server_nodeinstance_id: "" ×10 + 3.41sINFOobjective_server_node ×10 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.46sINFOmove_groupClearing octomap...[0m ×4 + 3.46sINFOmove_groupOctomap cleared.[0m ×4 + 3.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 5.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 7.16sINFOobjective_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 2.580685 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.36sINFOobjective_server_nodecaller: ×10 + 2.36sINFOobjective_server_nodetype: 0 ×10 + 2.36sINFOobjective_server_nodename: "" ×10 + 2.36sINFOobjective_server_nodeinstance_id: "" ×10 + 2.36sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.42sINFOmove_groupClearing octomap...[0m ×4 + 2.42sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 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 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][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 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 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 1.847881 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847881 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.41sINFOobjective_server_nodecaller: ×10 + 3.41sINFOobjective_server_nodetype: 0 ×10 + 3.41sINFOobjective_server_nodename: "" ×10 + 3.41sINFOobjective_server_nodeinstance_id: "" ×10 + 3.41sINFOobjective_server_node ×10 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.46sINFOmove_groupClearing octomap...[0m ×4 + 3.46sINFOmove_groupOctomap cleared.[0m ×4 + 3.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 5.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 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 2.580685 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.36sINFOobjective_server_nodecaller: ×10 + 2.36sINFOobjective_server_nodetype: 0 ×10 + 2.36sINFOobjective_server_nodename: "" ×10 + 2.36sINFOobjective_server_nodeinstance_id: "" ×10 + 2.36sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.42sINFOmove_groupClearing octomap...[0m ×4 + 2.42sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 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 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][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 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_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 2.580685 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.36sINFOobjective_server_nodecaller: ×10 + 2.36sINFOobjective_server_nodetype: 0 ×10 + 2.36sINFOobjective_server_nodename: "" ×10 + 2.36sINFOobjective_server_nodeinstance_id: "" ×10 + 2.36sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.42sINFOmove_groupClearing octomap...[0m ×4 + 2.42sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 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 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][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 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_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 2.580685 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.36sINFOobjective_server_nodecaller: ×10 + 2.36sINFOobjective_server_nodetype: 0 ×10 + 2.36sINFOobjective_server_nodename: "" ×10 + 2.36sINFOobjective_server_nodeinstance_id: "" ×10 + 2.36sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.42sINFOmove_groupClearing octomap...[0m ×4 + 2.42sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 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 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][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 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_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 2.580685 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580685 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 1.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.36sINFOobjective_server_nodecaller: ×10 + 2.36sINFOobjective_server_nodetype: 0 ×10 + 2.36sINFOobjective_server_nodename: "" ×10 + 2.36sINFOobjective_server_nodeinstance_id: "" ×10 + 2.36sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.42sINFOmove_groupClearing octomap...[0m ×4 + 2.42sINFOmove_groupOctomap cleared.[0m ×4 + 2.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 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 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][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 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764522 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764522 ms (missed cycles : 2).[0m ×2

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

9 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_camera_intrinsics.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709157 ms (missed cycles : 2).[0m ×2 + 0.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.24sINFOros2_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: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842159 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791699855.77623153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.38sINFOmove_groupClearing octomap...[0m ×4 + 1.38sINFOmove_groupOctomap cleared.[0m ×4 + 1.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791699855.78643417 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791699856.37369037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791699856.38380647 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828690 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791699856.96977878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791699857.12033272 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791699857.72932434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107069 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_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 + 3.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791699857.81946445 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791699858.40385389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278116 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.39sINFOjoint_trajectory_controllerReceived new action goal + 5.39sINFOjoint_trajectory_controllerAccepted new action goal + 5.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291144 ms (missed cycles : 2).[0m ×2