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	23.0s	12 errors · 322 warnings · 1554 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/2026-10-13-16-57-01-931946-ac96cb9cd7a4-7894 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.87sINFOstatic_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' + 4.87sINFOstatic_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' + 4.87sINFOstatic_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' + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.93sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.95sINFOcontroller_serverCreating controller server + 4.97sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.98sINFOlocal_costmap.local_costmapCreating Costmap + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.02sINFOsmoother_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. + 5.03sINFOsmoother_serverCreating smoother server + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.06sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 5.08sINFOplanner_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. + 5.11sINFOplanner_serverCreating + 5.15sINFOglobal_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. + 5.15sINFOglobal_costmap.global_costmapCreating Costmap + 5.16sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.16sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.16sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.16sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.18sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 5.19sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.19sINFOmap_serverCreating + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.22sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.23sINFOcontroller_managerupdate rate is 600 Hz + 5.24sINFOcontroller_managerOverruns handling is : enabled + 5.24sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.24sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 5.25sINFOros2_control_node-13process started with pid [8059] ×2 + 5.25sINFOmove_group-25process started with pid [8118] ×2 + 5.25sINFOparameter_manager_node-26process started with pid [8119] ×2 + 5.25sINFOwaypoint_manager_node-27process started with pid [8120] ×2 + 5.25sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.27sINFOmove_joint_resampler_node-28process started with pid [8121] ×2 + 5.27sINFOmove_end_effector_resampler_node-29process started with pid [8122] ×2 + 5.27sINFOobjective_server_node_main-30process started with pid [8123] ×2 + 5.27sINFOcomponent_container_mt-31process started with pid [8124] ×2 + 5.27sINFOcomponent_container_mt-32process started with pid [8125] ×2 + 5.27sINFOexecute_objective_bridge-33process started with pid [8126] ×2 + 5.27sINFOui_teleop_bridge-34process started with pid [8128] ×2 + 5.27sINFOweb_bridge-35process started with pid [8129] ×2 + 5.27sINFOtf_visualization_relay-36process started with pid [8133] ×2 + 5.27sINFOjoint_state_visualization_relay-37process started with pid [8136] ×2 + 5.27sINFOtf2_web_republisher_node-38process started with pid [8140] ×2 + 5.27sINFOvideo_server-39process started with pid [8141] ×2 + 5.27sINFOweb_bridge_auth_proxy-40process started with pid [8152] ×2 + 5.27sINFOweb_video_auth_proxy-41process started with pid [8169] ×2 + 5.28sINFOcomponent_container_isolated-1process started with pid [7944] ×2 + 5.28sINFOcomponent_container_isolated-2process started with pid [7945] ×2 + 5.28sINFOstatic_transform_publisher-3process started with pid [7946] ×2 + 5.28sINFOodom_world_drift-4process started with pid [7947] ×2 + 5.28sINFOlidar_flattener.py-5process started with pid [7948] ×2 + 5.28sINFOstatic_transform_publisher-6process started with pid [7949] ×2 + 5.28sINFOstatic_transform_publisher-7process started with pid [7950] ×2 + 5.28sINFOscan_to_scan_filter_chain-8process started with pid [7951] ×2 + 5.28sINFOscan_to_scan_filter_chain-9process started with pid [7952] ×2 + 5.28sINFOrelay-10process started with pid [8056] ×2 + 5.28sINFOrelay-11process started with pid [8057] ×2 + 5.28sINFOfixed_lag_smoother_node-12process started with pid [8058] ×2 + 5.28sINFOros2-14process started with pid [8062] ×2 + 5.28sINFOros2-15process started with pid [8063] ×2 + 5.28sINFOros2-16process started with pid [8064] ×2 + 5.28sINFOros2-17process started with pid [8065] ×2 + 5.28sINFOros2-18process started with pid [8066] ×2 + 5.28sINFOros2-19process started with pid [8067] ×2 + 5.28sINFObehavior_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. + 5.28sINFOros2-20process started with pid [8068] ×2 + 5.28sINFOros2-21process started with pid [8069] ×2 + 5.28sINFOros2-22process started with pid [8070] ×2 + 5.28sINFOros2-23process started with pid [8071] ×2 + 5.28sINFOros2-24process started with pid [8072] ×2 + 5.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791910629106622147, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 5.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.31sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.36sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270687 ms (missed cycles : 2). + 5.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.38sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.38sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.38sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.38sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.38sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.39sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.39sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.39sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.39sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.39sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.39sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.39sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.39sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.39sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.39sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.39sWARNros2_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 + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270687 ms (missed cycles : 2).[0m ×2 + 5.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.42sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.42sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.42sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.45sINFOlifecycle_manager_localizationCreating + 5.46sINFObt_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. + 5.49sINFObt_navigatorCreating + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.49sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.51sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.51sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.51sINFOmap_serverConfiguring + 5.55sINFOwaypoint_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. + 5.56sINFOwaypoint_followerCreating + 5.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.57sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.57sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.59sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.59sINFOvelocity_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. + 5.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.61sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.65sINFOlifecycle_manager_navigationCreating + 5.66sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.67sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.67sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.68sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.68sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.68sINFOamclConfiguring + 5.68sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.68sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.70sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.70sINFOmap_serverActivating + 5.70sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.70sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.71sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.71sINFOrobot_state_publisherRobot initialized + 5.71sINFOcontroller_serverConfiguring controller interface + 5.71sINFOcontroller_servergetting progress checker plugins.. + 5.71sINFOcontroller_servergetting goal checker plugins.. + 5.71sINFOcontroller_serverController frequency set to 20.0000Hz + 5.71sINFOlocal_costmap.local_costmapConfiguring + 5.72sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.73sINFOcontroller_managerReceived robot description from topic. + 5.73sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.73sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.73sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.74sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.76sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.77sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.77sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.77sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.77sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.82sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.82sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.82sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.83sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.83sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.83sINFOamclActivating + 5.83sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.83sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.84sINFOvideo_server2026/10/13 16:57:09 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.84sINFOvideo_server2026/10/13 16:57:09 INF configuration loaded from /tmp/moveit-webrtc-qyn8b0cu/mediamtx.yml ×2 + 5.84sINFOvideo_server2026/10/13 16:57:09 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.84sINFOvideo_server2026/10/13 16:57:09 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.84sINFOamclSubscribed to map_topic: /map + 5.84sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.84sINFOamclCreated reinitialize_global_localization service + 5.84sINFOamclCreated request_nomotion_update service + 5.88sINFOamclA new map was received + 5.88sINFOamclInitializing particle filter instance + 5.88sWARNlaser_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. + 5.89sWARNscan_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 + 5.89sWARNlaser_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. + 5.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.94sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.94sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.96sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.96sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.96sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.99sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.02sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.04sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.05sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.06sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.06sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.07sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.07sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.08sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.08sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.10sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.10sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.10sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.11sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.11sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.11sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.11sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.12sINFOcontroller_serverOptimizer reset ×2 + 6.14sINFOcontroller_serverController Server has FollowPath controllers available. + 6.15sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.280522 seconds + 6.15sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.15sINFOmove_groupLoaded robot model in 0.280522 seconds[0m ×2 + 6.15sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.15sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.15sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.17sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.17sINFOsmoother_serverConfiguring smoother server + 6.19sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.19sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.21sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.21sINFOplanner_serverConfiguring + 6.21sINFOglobal_costmap.global_costmapConfiguring + 6.22sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.24sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.24sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.25sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.27sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.30sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.30sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.31sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.37sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.37sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.37sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.38sINFOplanner_serverPlanner Server has GridBased planners available. + 6.40sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.40sINFObehavior_serverConfiguring + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352025 ms (missed cycles : 3). + 6.41sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352025 ms (missed cycles : 3).[0m ×2 + 6.42sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.44sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.44sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.45sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.46sINFObehavior_serverConfiguring spin + 6.48sINFObehavior_serverConfiguring backup + 6.50sINFObehavior_serverConfiguring drive_on_heading + 6.50sINFObehavior_serverConfiguring assisted_teleop + 6.53sINFObehavior_serverConfiguring wait + 6.54sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.54sINFObt_navigatorConfiguring + 6.58sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.61sWARNbt_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 + 6.71sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.71sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.79sINFOweb_video_auth_proxy2026-10-13 16:57:10,584 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.79sINFOweb_video_auth_proxy2026-10-13 16:57:10,587 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.80sINFOweb_bridge_auth_proxy2026-10-13 16:57:10,600 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.82sINFOwaypoint_manager_nodeLoaded robot model in 0.364135 seconds[0m ×2 + 6.82sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.82sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.89sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.89sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.89sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.90sWARNmove_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. + 6.90sWARNmove_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 + 6.90sWARNmove_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. + 6.90sWARNmove_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. + 6.90sWARNmove_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. + 6.90sWARNmove_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. + 6.90sWARNmove_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. + 6.90sWARNmove_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 + 6.90sWARNmove_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 + 6.90sWARNmove_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 + 6.90sWARNmove_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 + 6.90sWARNmove_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. + 6.90sWARNmove_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. + 6.90sWARNmove_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 + 6.90sWARNmove_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 + 6.90sWARNmove_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. + 6.90sWARNmove_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. + 6.91sWARNmove_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 + 6.92sWARNmove_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 + 6.92sWARNmove_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 + 6.92sINFOamclParticle filter initialization completed + 6.92sINFOamclInitializing particles from estimated pose and covariance + 6.92sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.92sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.93sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.93sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.93sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.99sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 7.00sINFOwaypoint_followerConfiguring + 7.05sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 7.05sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 7.05sINFOvelocity_smootherConfiguring velocity smoother + 7.07sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 7.07sINFOcontroller_serverActivating + 7.07sINFOlocal_costmap.local_costmapActivating + 7.07sINFOlocal_costmap.local_costmapChecking transform + 7.07sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×7 + 7.24sINFOmove_group[2026-10-13 16:57:11.041] [moveit_pro_license] [info] ×2 + 7.24sINFOmove_group************************************************* ×4 + 7.24sINFOmove_group* MoveIt Pro License ×2 + 7.24sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.42sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 7.42sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 7.42sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 7.42sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 7.45sWARNwaypoint_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. + 7.45sWARNwaypoint_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. + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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. + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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. + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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. + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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. + 7.45sINFOros2_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 + 7.45sWARNwaypoint_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 + 7.45sWARNwaypoint_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 + 7.45sINFOros2_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 + 7.45sWARNwaypoint_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. + 7.45sWARNwaypoint_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. + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031155 ms (missed cycles : 2). + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031155 ms (missed cycles : 2).[0m ×2 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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. + 7.46sWARNwaypoint_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 + 7.46sWARNwaypoint_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 + 7.47sWARNwaypoint_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. + 7.47sWARNwaypoint_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 + 7.47sWARNwaypoint_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. + 7.47sWARNwaypoint_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 + 7.47sWARNwaypoint_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. + 7.47sWARNwaypoint_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 + 7.47sWARNwaypoint_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. + 7.47sWARNwaypoint_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 + 7.47sWARNwaypoint_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. + 7.47sWARNwaypoint_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. + 7.47sWARNwaypoint_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 + 7.47sWARNwaypoint_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 + 7.47sWARNwaypoint_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. + 7.47sWARNwaypoint_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. + 7.47sWARNwaypoint_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 + 7.47sWARNwaypoint_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 + 7.68sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.68sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.68sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.69sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.69sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.69sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.69sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.69sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.69sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.69sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.69sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.70sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.70sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.70sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.70sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.70sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.70sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.71sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.71sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.71sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.83sINFOwaypoint_manager_node[2026-10-13 16:57:11.631] [moveit_pro_license] [info] ×2 + 7.84sINFOwaypoint_manager_node************************************************* ×4 + 7.84sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.84sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.26sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.26sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.27sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.35sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 8.35sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 8.35sINFOros2_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 + 8.35sWARNros2_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 + 8.35sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 8.35sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 8.35sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 8.35sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 8.35sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 8.35sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 8.35sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 8.35sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 8.35sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 8.35sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 8.35sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 8.35sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 8.35sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 8.35sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 8.35sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 8.35sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 8.35sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 8.35sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.35sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.35sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 8.35sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.35sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.35sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 8.35sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 8.35sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 8.36sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 8.36sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 8.36sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 8.36sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 8.36sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 8.36sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 8.36sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 8.36sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 8.41sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 8.41sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.47sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.47sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.47sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.47sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.59sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 8.59sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 8.64sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.64sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033159 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033159 ms (missed cycles : 2).[0m ×2 + 8.67sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 8.67sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 8.68sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 8.68sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 8.69sINFOros2_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 + 8.69sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.69sWARNros2_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 + 8.69sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.69sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.75sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.80sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.80sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 9.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.24sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.25sINFOros2_control_node[2026-10-13 16:57:13.047] [info] Controller state will be published at 20 Hz. ×2 + 9.25sINFOros2_control_node[2026-10-13 16:57:13.049] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.26sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 9.42sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.61sINFOobjective_server_node[2026-10-13 16:57:13.405] [moveit_pro_license] [info] ×2 + 9.61sINFOobjective_server_node************************************************* ×4 + 9.61sINFOobjective_server_node* MoveIt Pro License ×2 + 9.61sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.65sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.65sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.65sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.65sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.65sINFOros2-24process has finished cleanly [pid 8072] ×2 + 9.66sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754838 ms (missed cycles : 2). + 9.66sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754838 ms (missed cycles : 2).[0m ×2 + 9.71sINFOobjective_server_nodeLoaded robot model in 0.0407822 seconds[0m ×2 + 9.71sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 9.71sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.71sINFOcomponent_container_mtLoaded robot model in 0.452496 seconds[0m ×2 + 9.71sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.71sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.72sINFOmove_groupMoveGroup debug mode is ON + 9.72sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.72sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 9.73sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 9.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 9.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 9.74sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.74sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.74sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.74sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.75sINFOplatform_velocity_controller_nav2configure successful + 9.75sINFOros2_control_nodeconfigure successful[0m ×6 + 9.77sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 9.77sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 9.78sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 9.78sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 9.78sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 9.78sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.78sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 9.78sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.79sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.79sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 9.79sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 9.79sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.79sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 9.79sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.79sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 9.79sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 9.79sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 9.79sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.79sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.80sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 9.80sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 9.80sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 9.80sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 9.81sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 9.81sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 9.81sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 9.81sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 9.81sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 9.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 9.81sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 9.81sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 9.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 9.85sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.92sINFOmove_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 ****************************************************** + 9.92sINFOmove_group ×8 + 9.92sINFOmove_group****************************************************** ×4 + 9.92sINFOmove_group* MoveGroup using: ×2 + 9.92sINFOmove_group* - apply_planning_scene_service ×2 + 9.92sINFOmove_group* - clear_octomap_service ×2 + 9.92sINFOmove_group* - get_group_urdf ×2 + 9.92sINFOmove_group* - load_geometry_from_file ×2 + 9.92sINFOmove_group* - get_planning_scene_service ×2 + 9.92sINFOmove_group* - kinematics_service ×2 + 9.92sINFOmove_group* - save_geometry_to_file ×2 + 9.92sINFOmove_group* - GetPlanningGroups ×2 + 9.92sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.93sINFOmove_group[0m ×2 + 9.93sINFOmove_group[92mYou can start planning now![0m ×2 + 10.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 10.06sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 10.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 10.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 10.10sINFOstreaming_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) + 10.10sINFOcomponent_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 + 10.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 10.10sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 10.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 10.15sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.15sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.15sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.15sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.15sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 10.15sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 10.23sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.23sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.25sINFOplatform_velocity_controllerconfigure successful + 10.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.25sINFOcontroller_managerSuccessfully switched controllers! ×21 + 10.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 10.25sINFOros2-19process has finished cleanly [pid 8067] ×2 + 10.26sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.26sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.30sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 10.30sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.31sWARNobjective_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. + 10.31sWARNobjective_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 + 10.31sWARNobjective_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. + 10.31sWARNobjective_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 + 10.31sWARNplanning_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. + 10.31sWARNobjective_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. + 10.31sWARNobjective_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. + 10.31sWARNplanning_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. + 10.31sWARNplanning_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. + 10.31sWARNplanning_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. + 10.31sWARNcomponent_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 + 10.31sWARNobjective_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. + 10.31sWARNplanning_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. + 10.31sWARNplanning_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. + 10.31sWARNplanning_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. + 10.31sWARNplanning_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. + 10.31sWARNobjective_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. + 10.31sWARNobjective_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. + 10.31sWARNplanning_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. + 10.31sWARNobjective_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. + 10.31sWARNcomponent_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 + 10.31sWARNplanning_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. + 10.31sWARNcomponent_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 + 10.31sWARNcomponent_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 + 10.31sWARNcomponent_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 + 10.31sWARNcomponent_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 + 10.31sWARNcomponent_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 + 10.31sWARNcomponent_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 + 10.31sWARNobjective_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. + 10.32sWARNobjective_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 + 10.32sWARNobjective_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 + 10.32sWARNobjective_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. + 10.32sWARNobjective_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 + 10.32sWARNobjective_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 + 10.32sWARNobjective_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 + 10.32sWARNobjective_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 + 10.32sWARNobjective_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 + 10.32sWARNplanning_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. + 10.32sWARNcomponent_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 + 10.32sWARNcomponent_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 + 10.32sWARNobjective_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 + 10.32sWARNplanning_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. + 10.32sWARNcomponent_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 + 10.32sWARNcomponent_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 + 10.32sWARNplanning_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. + 10.32sWARNplanning_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. + 10.32sWARNplanning_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. + 10.32sWARNplanning_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. + 10.32sWARNplanning_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. + 10.32sWARNplanning_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. + 10.32sWARNplanning_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. + 10.32sWARNplanning_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. + 10.33sWARNplanning_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. + 10.33sWARNcomponent_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 + 10.33sWARNcomponent_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 + 10.33sWARNcomponent_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 + 10.33sWARNcomponent_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 + 10.33sWARNcomponent_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 + 10.33sWARNcomponent_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 + 10.33sWARNcomponent_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 + 10.33sWARNcomponent_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 + 10.33sWARNplanning_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. + 10.33sWARNcomponent_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 + 10.33sWARNcomponent_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 + 10.33sWARNplanning_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. + 10.33sWARNplanning_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. + 10.33sWARNcomponent_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 + 10.33sWARNcomponent_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 + 10.33sWARNplanning_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. + 10.33sWARNplanning_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. + 10.33sWARNcomponent_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 + 10.33sWARNplanning_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. + 10.33sWARNcomponent_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 + 10.33sWARNcomponent_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 + 10.34sWARNplanning_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. + 10.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 10.39sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 10.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 10.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 10.41sINFOobjective_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 + 10.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 10.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 10.44sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 10.44sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 10.44sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 10.44sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 10.44sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 10.44sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 10.44sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 10.52sWARNros2_control_nodeCamera render tick took 1.04 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 + 10.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 10.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 10.56sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.56sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.56sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.56sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.57sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 10.61sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.61sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.63sINFOros2-17process has finished cleanly [pid 8065] ×2 + 10.63sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.63sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.64sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 10.64sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 10.67sINFOcomponent_container_mt[2026-10-13 16:57:14.463] [moveit_pro_license] [info] ×2 + 10.67sINFOcomponent_container_mt************************************************* ×4 + 10.67sINFOcomponent_container_mt* MoveIt Pro License ×2 + 10.67sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663744 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663744 ms (missed cycles : 3).[0m ×2 + 10.98sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.98sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.98sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.98sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.98sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 10.98sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 11.03sINFOros2-16process has finished cleanly [pid 8064] ×2 + 11.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.06sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.07sINFOlocal_costmap.local_costmapstart + 11.10sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 11.10sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 11.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 11.11sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 11.16sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 11.18sWARNcontroller_serverParameter controller_server.verbose not found + 11.18sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 11.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 11.29sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.29sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.29sINFOsmoother_serverActivating + 11.29sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 11.39sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.39sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.40sINFOplanner_serverActivating + 11.40sINFOglobal_costmap.global_costmapActivating + 11.40sINFOglobal_costmap.global_costmapChecking transform + 11.40sINFOglobal_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. + 11.45sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791910634.383 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.56sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1791910633.280 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.61sINFOros2_control_node[2026-10-13 16:57:15.408] [info] Controller state will be published at 20 Hz. ×2 + 11.61sINFOros2_control_node[2026-10-13 16:57:15.410] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.66sINFOamclParticle filter update iteration stats: 1513 particles 811 points - 21.429ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517136 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517136 ms (missed cycles : 3).[0m ×2 + 11.90sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1791910635.661702, but only time 1791910635.961091 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.96sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.96sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.96sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.96sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.00sINFOros2-23process has finished cleanly [pid 8071] ×2 + 12.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 12.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 12.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.40sINFOglobal_costmap.global_costmapstart + 12.66sINFOros2_control_node[2026-10-13 16:57:16.454] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.66sINFOros2_control_node[2026-10-13 16:57:16.457] [info] Controller state will be published at 10 Hz. ×2 + 12.66sINFOros2_control_node[2026-10-13 16:57:16.459] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725214 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725214 ms (missed cycles : 2).[0m ×2 + 13.01sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.01sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.01sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.01sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 13.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 13.06sINFOros2-21process has finished cleanly [pid 8069] ×2 + 13.08sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.08sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.08sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.09sINFOforce_torque_sensor_broadcasterconfigure successful + 13.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.10sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.10sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.44sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 13.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 13.45sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.45sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.46sINFOros2-14process has finished cleanly [pid 8062] ×2 + 13.48sWARNobjective_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 + 13.56sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.56sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.56sINFObehavior_serverActivating + 13.56sINFObehavior_serverActivating spin + 13.56sINFObehavior_serverActivating backup + 13.56sINFObehavior_serverActivating drive_on_heading + 13.56sINFObehavior_serverActivating assisted_teleop + 13.56sINFObehavior_serverActivating wait + 13.56sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.56sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.57sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.57sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.57sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.57sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.57sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.57sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.57sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.57sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.67sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.67sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.67sINFObt_navigatorActivating + 13.74sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.85sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.85sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.85sINFOwaypoint_followerActivating + 13.85sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.89sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 13.89sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 13.89sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 13.89sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 13.89sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 13.89sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 13.90sINFOros2-20process has finished cleanly [pid 8068] ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729842 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729842 ms (missed cycles : 2).[0m ×2 + 13.95sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 13.95sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.95sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.95sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 13.95sINFOvelocity_smootherActivating + 13.96sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.96sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 13.96sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 13.96sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 13.96sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 13.97sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 13.97sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 14.06sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.06sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.06sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.29sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 14.29sINFOcontroller_managerLoading controller 'vacuum_gripper' + 14.29sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 14.29sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 14.29sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 14.30sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 14.32sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 14.32sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 14.35sINFOros2-15process has finished cleanly [pid 8063] ×2 + 14.36sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 14.36sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 14.36sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 14.36sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 14.36sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 14.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 14.37sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 14.37sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 14.38sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 14.38sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 14.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 14.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 14.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 14.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 14.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 + 14.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tnubcbgn --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_ra6ex5uo --params-file /tmp/launch_params_knicrp35 [0m ×2 + 14.75sINFOros2-18process has finished cleanly [pid 8066] ×2 + 14.80sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 14.80sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 14.80sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 14.80sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564941 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564941 ms (missed cycles : 2).[0m ×2 + 15.35sINFOros2_control_node[2026-10-13 16:57:19.147] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 15.35sINFOros2_control_node[2026-10-13 16:57:19.149] [info] Controller state will be published at 10 Hz. ×2 + 15.35sINFOros2_control_node[2026-10-13 16:57:19.151] [info] VelocityForceController 'on_configure' succeeded. ×2 + 15.72sINFOros2-22process has finished cleanly [pid 8070] ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619153 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619153 ms (missed cycles : 2).[0m ×2 + 16.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 16.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 16.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 16.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 16.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 16.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 16.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 16.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 16.53sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 16.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 16.54sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 16.54sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178406 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178406 ms (missed cycles : 2).[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120775 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120775 ms (missed cycles : 2).[0m ×2 + 18.36sWARNros2_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 + 18.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 22.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 22.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 22.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 22.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 22.18sINFOobjective_server_nodecaller: ×8 + 22.18sINFOobjective_server_nodetype: 0 ×8 + 22.18sINFOobjective_server_nodename: "" ×8 + 22.18sINFOobjective_server_nodeinstance_id: "" ×8 + 22.18sINFOobjective_server_node ×8 + 22.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 22.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 22.23sINFOmove_groupClearing octomap...[0m ×4 + 22.23sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 22.23sINFOmove_groupOctomap cleared.[0m ×4 + 22.23sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 22.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 22.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 22.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 23.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 23.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 23.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 24.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 24.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.22sINFOobjective_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 + 24.22sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 24.22sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 24.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 24.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 24.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 24.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	23 warnings · 337 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120775 ms (missed cycles : 2).[0m ×2 + 0.14sWARNros2_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 + 0.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 2.88sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.88sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.89sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.89sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.90sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.90sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.96sINFOobjective_server_nodecaller: ×10 + 3.96sINFOobjective_server_nodetype: 0 ×10 + 3.96sINFOobjective_server_nodename: "" ×10 + 3.96sINFOobjective_server_nodeinstance_id: "" ×10 + 3.96sINFOobjective_server_node ×10 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 4.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 4.01sINFOmove_groupClearing octomap...[0m ×4 + 4.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 4.01sINFOmove_groupOctomap cleared.[0m ×4 + 4.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 5.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 5.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.00sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

13 pass28 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.0s	3 errors · 254 warnings · 280 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609008 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609008 ms (missed cycles : 4).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.393ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537076 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537076 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.395ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.517ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003654 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003654 ms (missed cycles : 2).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.791ms + 3.13sINFOobjective_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 + 3.14sINFOjoint_trajectory_controllerGot request to cancel goal + 3.14sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.14sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.14sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.16sERRORobjective_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: 1791910857.77412510 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805125 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805125 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.20sINFOstate_estimatorReceived a set_pose request (stamp: 1791910857792976711, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 2.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 2.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-1.47, 3.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791910858.37821531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOamclParticle filter update iteration stats: 4787 particles 811 points - 12.027ms + 3.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.90sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568152, y=-0.0171786, yaw=-0.0183892 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877284 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877284 ms (missed cycles : 2).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.508ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782894 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782894 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392167 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392167 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.51sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.52sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.52sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021543 ms (missed cycles : 5). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.021543 ms (missed cycles : 5).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668497 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668497 ms (missed cycles : 3).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.258ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130862 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130862 ms (missed cycles : 2).[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.055ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867214 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867214 ms (missed cycles : 2).[0m ×2 + 10.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.433ms + 10.89sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 11.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.450ms + 11.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.789ms + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687529 ms (missed cycles : 4). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687529 ms (missed cycles : 4).[0m ×2 + 12.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.987ms + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140853 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140853 ms (missed cycles : 2).[0m ×2 + 13.72sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 13.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.836ms + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236811 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236811 ms (missed cycles : 2).[0m ×2 + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.082ms + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.303ms + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099488 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099488 ms (missed cycles : 2).[0m ×2 + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.287ms + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.716ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456423 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456423 ms (missed cycles : 3).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.096ms + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.901ms + 16.78sWARNros2_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 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321074 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321074 ms (missed cycles : 2).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.377ms + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.075ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250948 ms (missed cycles : 2). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250948 ms (missed cycles : 2).[0m ×2 + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.128ms + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.322ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710474 ms (missed cycles : 2). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710474 ms (missed cycles : 2).[0m ×2 + 19.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.352ms + 19.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.864ms + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.195ms + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573568 ms (missed cycles : 5). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573568 ms (missed cycles : 5).[0m ×2 + 20.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.834ms + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.982ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855180 ms (missed cycles : 5). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855180 ms (missed cycles : 5).[0m ×2 + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.211ms + 22.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.944ms + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862089 ms (missed cycles : 4). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862089 ms (missed cycles : 4).[0m ×2 + 22.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.495ms + 23.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.009ms + 23.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945578 ms (missed cycles : 3). + 23.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945578 ms (missed cycles : 3).[0m ×2 + 23.78sWARNros2_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 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.313ms + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.232ms + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027996 ms (missed cycles : 2). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027996 ms (missed cycles : 2).[0m ×2 + 24.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.018ms + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.268ms + 25.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.256ms + 25.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954294 ms (missed cycles : 3). + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954294 ms (missed cycles : 3).[0m ×2 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.315ms + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.119ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539562 ms (missed cycles : 4). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539562 ms (missed cycles : 4).[0m ×2 + 27.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.564ms + 27.61sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.500ms ×2 + 28.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210940 ms (missed cycles : 4). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.210940 ms (missed cycles : 4).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.094ms + 28.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.746ms + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468807 ms (missed cycles : 6). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468807 ms (missed cycles : 6).[0m ×2 + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.300ms + 29.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.111ms + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411545 ms (missed cycles : 3). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411545 ms (missed cycles : 3).[0m ×2 + 30.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.284ms + 30.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.382ms + 30.74sWARNros2_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 + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881086 ms (missed cycles : 3). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881086 ms (missed cycles : 3).[0m ×2 + 31.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.560ms + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671056 ms (missed cycles : 2). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671056 ms (missed cycles : 2).[0m ×2 + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.776ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.478ms + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.048ms + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049380 ms (missed cycles : 3). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049380 ms (missed cycles : 3).[0m ×2 + 34.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.975ms + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012205 ms (missed cycles : 3). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012205 ms (missed cycles : 3).[0m ×2 + 34.89sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.89sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785419 ms (missed cycles : 3). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785419 ms (missed cycles : 3).[0m ×2 + 35.47sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410879 ms (missed cycles : 3). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410879 ms (missed cycles : 3).[0m ×2 + 36.60sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384980 ms (missed cycles : 3). + 37.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384980 ms (missed cycles : 3).[0m ×2 + 38.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878330 ms (missed cycles : 2). + 38.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878330 ms (missed cycles : 2).[0m ×2 + 39.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.276ms + 39.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624658 ms (missed cycles : 6). + 39.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.624658 ms (missed cycles : 6).[0m ×2 + 39.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.703ms + 40.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.196ms + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604059 ms (missed cycles : 5). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604059 ms (missed cycles : 5).[0m ×2 + 40.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.004ms + 41.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.165ms + 41.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638405 ms (missed cycles : 3). + 41.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638405 ms (missed cycles : 3).[0m ×2 + 42.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.461ms + 42.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473937 ms (missed cycles : 2). + 42.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473937 ms (missed cycles : 2).[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412768 ms (missed cycles : 2). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412768 ms (missed cycles : 2).[0m ×2 + 44.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.216ms + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066281 ms (missed cycles : 2). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066281 ms (missed cycles : 2).[0m ×2 + 46.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833031 ms (missed cycles : 2). + 46.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833031 ms (missed cycles : 2).[0m ×2 + 46.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.295ms + 47.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902748 ms (missed cycles : 4). + 47.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902748 ms (missed cycles : 4).[0m ×2 + 47.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.160ms + 47.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.123ms + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362096 ms (missed cycles : 3). + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362096 ms (missed cycles : 3).[0m ×2 + 48.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 48.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.355ms + 49.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913906 ms (missed cycles : 3). + 49.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913906 ms (missed cycles : 3).[0m ×2 + 49.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.944ms + 50.23sINFOobjective_server_nodePlanning for 15 path waypoints. ×6 + 50.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.156ms + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839595 ms (missed cycles : 2). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839595 ms (missed cycles : 2).[0m ×2 + 51.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233472 ms (missed cycles : 2). + 51.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233472 ms (missed cycles : 2).[0m ×2 + 52.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072673 ms (missed cycles : 3). + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072673 ms (missed cycles : 3).[0m ×2 + 53.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681241 ms (missed cycles : 5). + 53.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681241 ms (missed cycles : 5).[0m ×2 + 54.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.428ms + 54.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912474 ms (missed cycles : 3). + 54.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912474 ms (missed cycles : 3).[0m ×2 + 54.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.637ms + 55.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.056ms + 55.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081321 ms (missed cycles : 3). + 55.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081321 ms (missed cycles : 3).[0m ×2 + 55.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.150ms + 56.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.156ms + 56.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277815 ms (missed cycles : 2). + 56.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277815 ms (missed cycles : 2).[0m ×2 + 57.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.943ms + 57.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191119 ms (missed cycles : 4). + 57.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191119 ms (missed cycles : 4).[0m ×2 + 58.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.712ms + 58.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429627 ms (missed cycles : 3). + 58.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429627 ms (missed cycles : 3).[0m ×2 + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758638 ms (missed cycles : 2). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758638 ms (missed cycles : 2).[0m ×2 + 60.07sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 60.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253058 ms (missed cycles : 5). + 60.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253058 ms (missed cycles : 5).[0m ×2 + 61.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818787 ms (missed cycles : 4). + 61.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818787 ms (missed cycles : 4).[0m ×2 + 62.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807176 ms (missed cycles : 3). + 62.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807176 ms (missed cycles : 3).[0m ×2 + 63.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.235ms + 63.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823399 ms (missed cycles : 3). + 63.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823399 ms (missed cycles : 3).[0m ×2 + 64.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.395ms + 65.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746604 ms (missed cycles : 2). + 65.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746604 ms (missed cycles : 2).[0m ×2 + 65.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.670ms + 65.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.767ms + 66.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776853 ms (missed cycles : 2). + 66.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776853 ms (missed cycles : 2).[0m ×2 + 66.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.835ms + 66.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.374ms + 67.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157169 ms (missed cycles : 5). + 67.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157169 ms (missed cycles : 5).[0m ×2 + 67.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.912ms + 68.16sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791910922.76840734 seconds ×3 + 68.18sINFOstate_estimatorReceived a set_pose request (stamp: 1791910922785829702, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 68.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895249 ms (missed cycles : 3). + 68.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895249 ms (missed cycles : 3).[0m ×2 + 68.36sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.48) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.36sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.770ms + 68.46sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.46sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.70sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791910923.35003257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.81sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.867ms + 68.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568744, y=-0.0171805, yaw=-0.0184009 + 69.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.166ms + 69.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742159 ms (missed cycles : 3). + 69.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742159 ms (missed cycles : 3).[0m ×2 + 70.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001594 ms (missed cycles : 5). + 70.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001594 ms (missed cycles : 5).[0m ×2 + 71.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2). + 71.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.5s	208 warnings · 235 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.403ms + 0.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.577ms + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804464 ms (missed cycles : 2). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804464 ms (missed cycles : 2).[0m ×2 + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.976ms + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.934ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.223ms + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505205 ms (missed cycles : 3). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505205 ms (missed cycles : 3).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.694ms + 2.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.538ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356055 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356055 ms (missed cycles : 3).[0m ×2 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.436ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791910697.89531589 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.23sINFOstate_estimatorReceived a set_pose request (stamp: 1791910697912343539, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.401ms + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791910698.49717689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.93sINFOamclParticle filter update iteration stats: 1703 particles 811 points - 6.670ms + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.94sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568125, y=-0.0171787, yaw=-0.0183892 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857367 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857367 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.144ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092544 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092544 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471925 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471925 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.64sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.64sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.64sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218468 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218468 ms (missed cycles : 4).[0m ×2 + 7.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664248 ms (missed cycles : 3). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664248 ms (missed cycles : 3).[0m ×2 + 8.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.256ms + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713787 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713787 ms (missed cycles : 3).[0m ×2 + 9.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.960ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470894 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470894 ms (missed cycles : 3).[0m ×2 + 10.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.753ms + 11.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.416ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144784 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144784 ms (missed cycles : 3).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.549ms + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758626 ms (missed cycles : 3). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758626 ms (missed cycles : 3).[0m ×2 + 12.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.415ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560368 ms (missed cycles : 3). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560368 ms (missed cycles : 3).[0m ×2 + 13.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.123ms + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.441ms + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367420 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367420 ms (missed cycles : 3).[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.739ms ×2 + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.279ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320635 ms (missed cycles : 4). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320635 ms (missed cycles : 4).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.419ms + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.987ms + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831166 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831166 ms (missed cycles : 2).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.961ms + 17.29sWARNros2_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 + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.227ms + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620387 ms (missed cycles : 3). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620387 ms (missed cycles : 3).[0m ×2 + 18.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.319ms + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.407ms + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.788ms + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403215 ms (missed cycles : 4). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403215 ms (missed cycles : 4).[0m ×2 + 19.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.010ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.042ms + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695147 ms (missed cycles : 3). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695147 ms (missed cycles : 3).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.099ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.905ms + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652177 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652177 ms (missed cycles : 2).[0m ×2 + 21.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.711ms + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.166ms + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371025 ms (missed cycles : 6). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.371025 ms (missed cycles : 6).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.010ms + 23.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.040ms + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.513ms + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004430 ms (missed cycles : 3). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004430 ms (missed cycles : 3).[0m ×2 + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.116ms + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.828ms + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045653 ms (missed cycles : 2). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045653 ms (missed cycles : 2).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.196ms + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.441ms + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667933 ms (missed cycles : 4). + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667933 ms (missed cycles : 4).[0m ×2 + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.833ms + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.566ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606212 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606212 ms (missed cycles : 2).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.052ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.633ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897318 ms (missed cycles : 2). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897318 ms (missed cycles : 2).[0m ×2 + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.170ms + 28.02sWARNros2_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 ×8 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.943ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.706ms + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614010 ms (missed cycles : 3). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614010 ms (missed cycles : 3).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.923ms + 29.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.264ms + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938817 ms (missed cycles : 3). + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938817 ms (missed cycles : 3).[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.023ms + 30.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.855ms + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802254 ms (missed cycles : 2). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802254 ms (missed cycles : 2).[0m ×2 + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.954ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.890ms + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865104 ms (missed cycles : 3). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865104 ms (missed cycles : 3).[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.618ms + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.335ms + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976388 ms (missed cycles : 3). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976388 ms (missed cycles : 3).[0m ×2 + 33.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.371ms + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298755 ms (missed cycles : 2). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298755 ms (missed cycles : 2).[0m ×2 + 34.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.168ms + 35.06sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793905 ms (missed cycles : 2). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793905 ms (missed cycles : 2).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927071 ms (missed cycles : 3). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927071 ms (missed cycles : 3).[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923018 ms (missed cycles : 3). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923018 ms (missed cycles : 3).[0m ×2 + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672779 ms (missed cycles : 2). + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672779 ms (missed cycles : 2).[0m ×2 + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912157 ms (missed cycles : 2). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912157 ms (missed cycles : 2).[0m ×2 + 40.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306873 ms (missed cycles : 5). + 40.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306873 ms (missed cycles : 5).[0m ×2 + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532627 ms (missed cycles : 3). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532627 ms (missed cycles : 3).[0m ×2 + 41.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.680ms + 42.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.274ms + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761736 ms (missed cycles : 2). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761736 ms (missed cycles : 2).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102725 ms (missed cycles : 3). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102725 ms (missed cycles : 3).[0m ×2 + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523584 ms (missed cycles : 3). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523584 ms (missed cycles : 3).[0m ×2 + 44.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.929ms + 45.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.507021 ms (missed cycles : 5). + 45.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.507021 ms (missed cycles : 5).[0m ×2 + 46.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.077ms + 46.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447200 ms (missed cycles : 4). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447200 ms (missed cycles : 4).[0m ×2 + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685182 ms (missed cycles : 3). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685182 ms (missed cycles : 3).[0m ×2 + 48.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.578ms + 48.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050595 ms (missed cycles : 3). + 48.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050595 ms (missed cycles : 3).[0m ×2 + 49.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.394ms + 49.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470200 ms (missed cycles : 5). + 49.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470200 ms (missed cycles : 5).[0m ×2 + 50.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070219 ms (missed cycles : 3). + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070219 ms (missed cycles : 3).[0m ×2 + 51.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.597ms + 51.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093184 ms (missed cycles : 3). + 51.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093184 ms (missed cycles : 3).[0m ×2 + 52.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.040ms + 52.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626923 ms (missed cycles : 2). + 52.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626923 ms (missed cycles : 2).[0m ×2 + 54.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667335 ms (missed cycles : 3). + 54.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667335 ms (missed cycles : 3).[0m ×2 + 55.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146827 ms (missed cycles : 2). + 55.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146827 ms (missed cycles : 2).[0m ×2 + 55.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.961ms + 56.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359746 ms (missed cycles : 2). + 56.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359746 ms (missed cycles : 2).[0m ×2 + 57.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861095 ms (missed cycles : 3). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861095 ms (missed cycles : 3).[0m ×2 + 58.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3). + 58.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3).[0m ×2 + 59.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3). + 59.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3).[0m ×2 + 60.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 60.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2). + 60.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2).[0m ×2 + 60.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910755.34731102 seconds ×3 + 60.70sINFOstate_estimatorReceived a set_pose request (stamp: 1791910755376860895, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.78sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 60.78sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.88sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 61.08sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.08sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.21sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3). + 61.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3).[0m ×2 + 61.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910755.95015383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.610ms + 61.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 61.66sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 62.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.444ms + 62.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3). + 62.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3).[0m ×2 + 63.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2). + 63.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	216 warnings · 220 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411288 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411288 ms (missed cycles : 3).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.754581 ms (missed cycles : 5). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.754581 ms (missed cycles : 5).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.809ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403767 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403767 ms (missed cycles : 3).[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.643ms + 10.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.556ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405657 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405657 ms (missed cycles : 3).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.869ms + 11.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.392ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812144 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812144 ms (missed cycles : 3).[0m ×2 + 12.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.866ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262573 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262573 ms (missed cycles : 2).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.870ms + 13.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.518ms + 13.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.213ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758797 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758797 ms (missed cycles : 3).[0m ×2 + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.003ms + 14.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.635ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020368 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020368 ms (missed cycles : 3).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.389ms + 15.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.648ms + 16.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.142629 ms (missed cycles : 5). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.142629 ms (missed cycles : 5).[0m ×2 + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.347ms + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.348ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011212 ms (missed cycles : 5). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011212 ms (missed cycles : 5).[0m ×2 + 17.28sWARNros2_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 ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.379ms + 17.30sWARNros2_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 + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.511ms + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069923 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069923 ms (missed cycles : 3).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.506ms + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.082ms + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.685ms + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841678 ms (missed cycles : 3). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841678 ms (missed cycles : 3).[0m ×2 + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.427ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.505ms + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173953 ms (missed cycles : 2). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173953 ms (missed cycles : 2).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.934ms + 21.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.793ms + 21.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172044 ms (missed cycles : 4). + 21.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172044 ms (missed cycles : 4).[0m ×2 + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.780ms + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.621ms + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658086 ms (missed cycles : 3). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658086 ms (missed cycles : 3).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.925ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.108ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962663 ms (missed cycles : 2). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962663 ms (missed cycles : 2).[0m ×2 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.258ms + 23.81sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.977ms + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165366 ms (missed cycles : 2). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165366 ms (missed cycles : 2).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.390ms + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.738ms + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113681 ms (missed cycles : 2). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113681 ms (missed cycles : 2).[0m ×2 + 25.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.352ms + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.396ms + 26.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.117ms + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894214 ms (missed cycles : 3). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894214 ms (missed cycles : 3).[0m ×2 + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.692ms + 27.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.854ms + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918875 ms (missed cycles : 3). + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918875 ms (missed cycles : 3).[0m ×2 + 28.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.630ms + 28.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.555ms + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633755 ms (missed cycles : 3). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633755 ms (missed cycles : 3).[0m ×2 + 29.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.344ms + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841926 ms (missed cycles : 3). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841926 ms (missed cycles : 3).[0m ×2 + 30.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.227ms + 30.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.250ms + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167691 ms (missed cycles : 3). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167691 ms (missed cycles : 3).[0m ×2 + 31.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.376ms + 31.15sWARNros2_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 + 31.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.998ms + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776298 ms (missed cycles : 3). + 32.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776298 ms (missed cycles : 3).[0m ×2 + 32.18sWARNros2_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 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.129ms + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293898 ms (missed cycles : 2). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293898 ms (missed cycles : 2).[0m ×2 + 33.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.817ms + 34.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.289ms + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138939 ms (missed cycles : 2). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138939 ms (missed cycles : 2).[0m ×2 + 34.80sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102073 ms (missed cycles : 6). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102073 ms (missed cycles : 6).[0m ×2 + 36.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×8 + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441593 ms (missed cycles : 4). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441593 ms (missed cycles : 4).[0m ×2 + 37.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.565ms + 37.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465505 ms (missed cycles : 5). + 37.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465505 ms (missed cycles : 5).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369083 ms (missed cycles : 2). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369083 ms (missed cycles : 2).[0m ×2 + 38.68sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 39.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.262ms ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720849 ms (missed cycles : 3). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720849 ms (missed cycles : 3).[0m ×2 + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435928 ms (missed cycles : 2). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435928 ms (missed cycles : 2).[0m ×2 + 41.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.354ms + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057521 ms (missed cycles : 3). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057521 ms (missed cycles : 3).[0m ×2 + 43.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677111 ms (missed cycles : 3). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677111 ms (missed cycles : 3).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930440 ms (missed cycles : 3). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930440 ms (missed cycles : 3).[0m ×2 + 44.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.939ms + 45.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800697 ms (missed cycles : 3). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800697 ms (missed cycles : 3).[0m ×2 + 45.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.682ms + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781209 ms (missed cycles : 4). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781209 ms (missed cycles : 4).[0m ×2 + 47.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174920 ms (missed cycles : 3). + 47.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174920 ms (missed cycles : 3).[0m ×2 + 48.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.148ms + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594642 ms (missed cycles : 4). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594642 ms (missed cycles : 4).[0m ×2 + 49.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.592ms + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459277 ms (missed cycles : 3). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459277 ms (missed cycles : 3).[0m ×2 + 50.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240493 ms (missed cycles : 5). + 50.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240493 ms (missed cycles : 5).[0m ×2 + 51.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.197ms + 51.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018619 ms (missed cycles : 3). + 51.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018619 ms (missed cycles : 3).[0m ×2 + 52.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.929ms + 52.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426169 ms (missed cycles : 3). + 52.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426169 ms (missed cycles : 3).[0m ×2 + 53.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954222 ms (missed cycles : 2). + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954222 ms (missed cycles : 2).[0m ×2 + 55.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473821 ms (missed cycles : 2). + 55.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473821 ms (missed cycles : 2).[0m ×2 + 55.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.583ms + 56.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.718005 ms (missed cycles : 5). + 56.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.718005 ms (missed cycles : 5).[0m ×2 + 57.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062777 ms (missed cycles : 2). + 57.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062777 ms (missed cycles : 2).[0m ×2 + 58.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706967 ms (missed cycles : 3). + 58.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706967 ms (missed cycles : 3).[0m ×2 + 59.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233976 ms (missed cycles : 2). + 59.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233976 ms (missed cycles : 2).[0m ×2 + 59.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.191ms + 60.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791910986.57041550 seconds ×3 + 60.42sINFOstate_estimatorReceived a set_pose request (stamp: 1791910986585989240, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361145 ms (missed cycles : 3). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361145 ms (missed cycles : 3).[0m ×2 + 60.49sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.21) is out of map bounds (-4.15, 3.50) to (0.83, 8.48). The costmap cannot raytrace for it. + 60.49sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.25) is out of map bounds (-4.15, 3.50) to (0.83, 8.48). The costmap cannot raytrace for it. + 60.59sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.59sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.89sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.89sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.93sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791910987.17069077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.27sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.655ms + 61.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.27sINFOamclInitializing particles from estimated pose and covariance + 61.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 61.40sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 61.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806618 ms (missed cycles : 3). + 61.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806618 ms (missed cycles : 3).[0m ×2 + 61.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.715ms + 61.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616131 ms (missed cycles : 3). + 62.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616131 ms (missed cycles : 3).[0m ×2 + 63.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773503 ms (missed cycles : 2). + 63.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773503 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.4s	210 warnings · 241 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.749ms + 0.52sWARNros2_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 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.346ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746895 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746895 ms (missed cycles : 6).[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.379ms + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.374ms + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292388 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292388 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.199ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911189 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911189 ms (missed cycles : 3).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.25sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791910794.50936007 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791910794527843623, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-5.10, 5.70) to (-0.12, 10.68). The costmap cannot raytrace for it. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-5.10, 5.70) to (-0.12, 10.68). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.22) 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: 1791910795.09955573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.970ms + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.95sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665856 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665856 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.070ms + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470158 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470158 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484479 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484479 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_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 + 6.73sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310334 ms (missed cycles : 4). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310334 ms (missed cycles : 4).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089001 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089001 ms (missed cycles : 2).[0m ×2 + 8.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.231ms + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076645 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076645 ms (missed cycles : 2).[0m ×2 + 9.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.605ms + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431748 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431748 ms (missed cycles : 3).[0m ×2 + 10.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.606ms + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924884 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924884 ms (missed cycles : 2).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.345ms + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544269 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544269 ms (missed cycles : 3).[0m ×2 + 12.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.144ms + 13.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.752ms + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805524 ms (missed cycles : 5). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805524 ms (missed cycles : 5).[0m ×2 + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.096ms + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170398 ms (missed cycles : 3). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170398 ms (missed cycles : 3).[0m ×2 + 14.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.669ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.278ms + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785282 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785282 ms (missed cycles : 3).[0m ×2 + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.024ms + 16.02sWARNros2_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 ×4 + 16.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.893ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931342 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931342 ms (missed cycles : 2).[0m ×2 + 17.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.632ms + 17.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.285ms + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538957 ms (missed cycles : 3). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538957 ms (missed cycles : 3).[0m ×2 + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.898ms + 18.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.354ms + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474435 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474435 ms (missed cycles : 3).[0m ×2 + 19.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.132ms + 19.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.086ms + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.009ms + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068197 ms (missed cycles : 2). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068197 ms (missed cycles : 2).[0m ×2 + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.088ms + 21.10sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210249 ms (missed cycles : 2). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210249 ms (missed cycles : 2).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.272ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.635ms + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402623 ms (missed cycles : 6). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402623 ms (missed cycles : 6).[0m ×2 + 22.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.227ms + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.688ms + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834339 ms (missed cycles : 4). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834339 ms (missed cycles : 4).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.449ms + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.172597 ms (missed cycles : 6). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.172597 ms (missed cycles : 6).[0m ×2 + 24.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.110ms + 25.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.451ms + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922692 ms (missed cycles : 3). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922692 ms (missed cycles : 3).[0m ×2 + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.165ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.702ms + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986502 ms (missed cycles : 3). + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986502 ms (missed cycles : 3).[0m ×2 + 26.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.438ms + 26.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.643ms + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147207 ms (missed cycles : 4). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147207 ms (missed cycles : 4).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.978ms + 27.48sWARNros2_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 + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.579ms + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023310 ms (missed cycles : 4). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023310 ms (missed cycles : 4).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.732ms + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.151ms + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.530ms ×2 + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236069 ms (missed cycles : 3). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236069 ms (missed cycles : 3).[0m ×2 + 29.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.981ms + 30.45sWARNros2_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 + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.058ms + 30.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399060 ms (missed cycles : 3). + 30.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399060 ms (missed cycles : 3).[0m ×2 + 30.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.638ms + 30.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.756ms + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092213 ms (missed cycles : 3). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092213 ms (missed cycles : 3).[0m ×2 + 31.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.551ms + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.534ms + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060138 ms (missed cycles : 3). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060138 ms (missed cycles : 3).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.590ms + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.570ms + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827170 ms (missed cycles : 4). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827170 ms (missed cycles : 4).[0m ×2 + 34.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.221ms + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408535 ms (missed cycles : 3). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408535 ms (missed cycles : 3).[0m ×2 + 35.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207711 ms (missed cycles : 2). + 35.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207711 ms (missed cycles : 2).[0m ×2 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578226 ms (missed cycles : 2). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578226 ms (missed cycles : 2).[0m ×2 + 37.59sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784758 ms (missed cycles : 2). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784758 ms (missed cycles : 2).[0m ×2 + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.797036 ms (missed cycles : 5). + 38.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.797036 ms (missed cycles : 5).[0m ×2 + 38.89sWARNros2_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 + 39.25sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441879 ms (missed cycles : 3). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441879 ms (missed cycles : 3).[0m ×2 + 40.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.624ms + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018623 ms (missed cycles : 3). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018623 ms (missed cycles : 3).[0m ×2 + 41.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.061ms + 42.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677327 ms (missed cycles : 3). + 42.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677327 ms (missed cycles : 3).[0m ×2 + 42.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.419ms + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326939 ms (missed cycles : 3). + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326939 ms (missed cycles : 3).[0m ×2 + 43.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.276ms + 43.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.858ms + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670552 ms (missed cycles : 2). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670552 ms (missed cycles : 2).[0m ×2 + 44.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.171ms + 45.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201617 ms (missed cycles : 4). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201617 ms (missed cycles : 4).[0m ×2 + 45.37sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 45.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253350 ms (missed cycles : 5). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.253350 ms (missed cycles : 5).[0m ×2 + 47.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250145 ms (missed cycles : 2). + 47.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250145 ms (missed cycles : 2).[0m ×2 + 47.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.023ms + 47.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.822ms + 48.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990244 ms (missed cycles : 3). + 48.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990244 ms (missed cycles : 3).[0m ×2 + 48.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.855ms + 48.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.598ms + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222656 ms (missed cycles : 3). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222656 ms (missed cycles : 3).[0m ×2 + 49.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.038ms + 49.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.268ms + 50.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.303ms + 50.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302261 ms (missed cycles : 2). + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302261 ms (missed cycles : 2).[0m ×2 + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.730ms + 51.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.041ms + 51.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783212 ms (missed cycles : 3). + 51.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783212 ms (missed cycles : 3).[0m ×2 + 52.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.663ms + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861662 ms (missed cycles : 3). + 52.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861662 ms (missed cycles : 3).[0m ×2 + 53.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878553 ms (missed cycles : 4). + 53.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878553 ms (missed cycles : 4).[0m ×2 + 54.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.980ms + 54.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098048 ms (missed cycles : 3). + 54.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098048 ms (missed cycles : 3).[0m ×2 + 55.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.478ms + 55.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778220 ms (missed cycles : 3). + 55.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778220 ms (missed cycles : 3).[0m ×2 + 55.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791910846.90973830 seconds ×3 + 55.72sINFOstate_estimatorReceived a set_pose request (stamp: 1791910846926002525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 55.85sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.85sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 56.18sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.167ms + 56.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 56.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.29sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791910847.51875544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.72sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625017 ms (missed cycles : 2). + 56.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625017 ms (missed cycles : 2).[0m ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131028 ms (missed cycles : 3). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131028 ms (missed cycles : 3).[0m ×2 + 57.85sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171838, yaw=-0.0184035 + 58.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.532ms + 58.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620541 ms (missed cycles : 3). + 58.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620541 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	143 warnings · 426 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.08sINFOobjective_server_nodecaller: ×12 + 1.08sINFOobjective_server_nodetype: 0 ×12 + 1.08sINFOobjective_server_nodename: "" ×12 + 1.08sINFOobjective_server_nodeinstance_id: "" ×12 + 1.08sINFOobjective_server_node ×12 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 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 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 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: "" + 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 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: 1791910648.66973662 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 ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.79sINFOcontroller_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052441 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052441 ms (missed cycles : 4).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853725 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853725 ms (missed cycles : 2).[0m ×2 + 7.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.256ms + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954531 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954531 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764826 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764826 ms (missed cycles : 2).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512634 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512634 ms (missed cycles : 3).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528344 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528344 ms (missed cycles : 3).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104124 ms (missed cycles : 3). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104124 ms (missed cycles : 3).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827354 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827354 ms (missed cycles : 2).[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848347 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848347 ms (missed cycles : 2).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078762 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078762 ms (missed cycles : 2).[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.080291 ms (missed cycles : 6). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.080291 ms (missed cycles : 6).[0m ×2 + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888829 ms (missed cycles : 2). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888829 ms (missed cycles : 2).[0m ×2 + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346856 ms (missed cycles : 3). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346856 ms (missed cycles : 3).[0m ×2 + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557180 ms (missed cycles : 2). + 20.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557180 ms (missed cycles : 2).[0m ×2 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037030 ms (missed cycles : 3). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037030 ms (missed cycles : 3).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726817 ms (missed cycles : 4). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726817 ms (missed cycles : 4).[0m ×2 + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933763 ms (missed cycles : 2). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933763 ms (missed cycles : 2).[0m ×2 + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.428ms + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180637 ms (missed cycles : 2). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180637 ms (missed cycles : 2).[0m ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967212 ms (missed cycles : 3). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967212 ms (missed cycles : 3).[0m ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667743 ms (missed cycles : 2). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667743 ms (missed cycles : 2).[0m ×2 + 28.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093135 ms (missed cycles : 3). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093135 ms (missed cycles : 3).[0m ×2 + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248011 ms (missed cycles : 2). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248011 ms (missed cycles : 2).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376633 ms (missed cycles : 3). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376633 ms (missed cycles : 3).[0m ×2 + 31.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.746675 ms (missed cycles : 5). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.746675 ms (missed cycles : 5).[0m ×2 + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112077 ms (missed cycles : 4). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112077 ms (missed cycles : 4).[0m ×2 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376464 ms (missed cycles : 3). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376464 ms (missed cycles : 3).[0m ×2 + 34.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904438 ms (missed cycles : 2). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904438 ms (missed cycles : 2).[0m ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655403 ms (missed cycles : 3). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655403 ms (missed cycles : 3).[0m ×2 + 35.79sWARNros2_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 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936087 ms (missed cycles : 2). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936087 ms (missed cycles : 2).[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.404939 ms (missed cycles : 6). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.404939 ms (missed cycles : 6).[0m ×2 + 38.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.061ms + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868410 ms (missed cycles : 2). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868410 ms (missed cycles : 2).[0m ×2 + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286410 ms (missed cycles : 3). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286410 ms (missed cycles : 3).[0m ×2 + 41.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700787 ms (missed cycles : 2). + 41.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700787 ms (missed cycles : 2).[0m ×2 + 42.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945320 ms (missed cycles : 3). + 42.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945320 ms (missed cycles : 3).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883256 ms (missed cycles : 2). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883256 ms (missed cycles : 2).[0m ×2 + 44.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619386 ms (missed cycles : 3). + 44.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619386 ms (missed cycles : 3).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843103 ms (missed cycles : 2). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843103 ms (missed cycles : 2).[0m ×2 + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893101 ms (missed cycles : 2). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893101 ms (missed cycles : 2).[0m ×2 + 46.80sINFOjoint_trajectory_controllerGoal reached, success! + 46.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.84sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791910691.74361992 seconds ×3 + 46.85sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.86sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.88sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.88sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.88sINFOstate_estimatorReceived a set_pose request (stamp: 1791910691767733627, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.39sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.44sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791910692.33519721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668771 ms (missed cycles : 3). + 47.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668771 ms (missed cycles : 3).[0m ×2 + 47.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.586ms + 47.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.52sINFOamclInitializing particles from estimated pose and covariance + 47.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568357, y=-0.0171783, yaw=-0.0183893 + 48.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.820ms + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668786 ms (missed cycles : 4). + 48.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668786 ms (missed cycles : 4).[0m ×2 + 48.53sINFOobjective_server_nodeFound path in 0 iterations (3.7057e-05 s). ×2 + 48.61sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781755 ms (missed cycles : 5). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781755 ms (missed cycles : 5).[0m ×2 + 49.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.403ms + 50.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.577ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	134 warnings · 196 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448771 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448771 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532709 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532709 ms (missed cycles : 2).[0m ×2 + 1.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.60sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791910761.81029677 seconds ×3 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985801 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985801 ms (missed cycles : 2).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046519 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046519 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791910763.39922595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952205 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952205 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694706 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694706 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740549 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740549 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036085 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036085 ms (missed cycles : 3).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.301ms + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151025 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151025 ms (missed cycles : 3).[0m ×2 + 8.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.071ms + 9.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.738ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953140 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953140 ms (missed cycles : 3).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.817ms + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861421 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861421 ms (missed cycles : 3).[0m ×2 + 11.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.094ms + 11.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.562ms + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374683 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374683 ms (missed cycles : 3).[0m ×2 + 12.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.650ms + 12.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 12.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.515ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096438 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096438 ms (missed cycles : 3).[0m ×2 + 13.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.129ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.606ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699684 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699684 ms (missed cycles : 2).[0m ×2 + 13.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.578ms + 14.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.210ms + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170174 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170174 ms (missed cycles : 2).[0m ×2 + 15.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.011ms + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.188ms + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290504 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290504 ms (missed cycles : 2).[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 16.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.251ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988474 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988474 ms (missed cycles : 2).[0m ×2 + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.727ms + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.483ms + 17.85sWARNros2_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 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085553 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085553 ms (missed cycles : 2).[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.911ms + 18.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.240ms + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079848 ms (missed cycles : 2). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079848 ms (missed cycles : 2).[0m ×2 + 19.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.368ms + 19.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.422ms + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523993 ms (missed cycles : 3). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523993 ms (missed cycles : 3).[0m ×2 + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.287ms + 20.86sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.663ms + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676978 ms (missed cycles : 3). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676978 ms (missed cycles : 3).[0m ×2 + 21.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.299ms + 21.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.471ms + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256177 ms (missed cycles : 2). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256177 ms (missed cycles : 2).[0m ×2 + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.661ms + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.386ms + 22.95sWARNros2_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 + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541341 ms (missed cycles : 2). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541341 ms (missed cycles : 2).[0m ×2 + 23.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.075ms + 23.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.324ms + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674076 ms (missed cycles : 3). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674076 ms (missed cycles : 3).[0m ×2 + 24.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.619ms + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.428ms + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925007 ms (missed cycles : 3). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925007 ms (missed cycles : 3).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.039ms + 26.02sWARNros2_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 + 26.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.021ms + 26.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.686ms + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599419 ms (missed cycles : 4). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599419 ms (missed cycles : 4).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 27.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.847ms + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794539 ms (missed cycles : 2). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794539 ms (missed cycles : 2).[0m ×2 + 28.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.182ms + 28.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.492ms + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397981 ms (missed cycles : 4). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397981 ms (missed cycles : 4).[0m ×2 + 29.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.554ms + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.131ms + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119719 ms (missed cycles : 2). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119719 ms (missed cycles : 2).[0m ×2 + 30.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.503ms + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.394ms + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413281 ms (missed cycles : 3). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413281 ms (missed cycles : 3).[0m ×2 + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.749ms + 31.53sWARNros2_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 ×2 + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.346ms + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746895 ms (missed cycles : 6). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746895 ms (missed cycles : 6).[0m ×2 + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.379ms + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.374ms + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292388 ms (missed cycles : 3). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292388 ms (missed cycles : 3).[0m ×2 + 33.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.199ms + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911189 ms (missed cycles : 3). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911189 ms (missed cycles : 3).[0m ×2 + 34.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791910794.50936007 seconds ×3 + 34.33sINFOstate_estimatorReceived a set_pose request (stamp: 1791910794527843623, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.36sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-5.10, 5.70) to (-0.12, 10.68). The costmap cannot raytrace for it. + 34.36sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-5.10, 5.70) to (-0.12, 10.68). The costmap cannot raytrace for it. + 34.46sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 34.46sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 34.56sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.56sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.22) 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: 1791910795.09955573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.970ms + 34.97sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 34.97sINFOamclInitializing particles from estimated pose and covariance + 34.97sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 34.97sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 35.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665856 ms (missed cycles : 3). + 35.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665856 ms (missed cycles : 3).[0m ×2 + 35.29sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 35.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.070ms + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470158 ms (missed cycles : 3). + 36.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470158 ms (missed cycles : 3).[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484479 ms (missed cycles : 2). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484479 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.8s	88 warnings · 257 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062777 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062777 ms (missed cycles : 2).[0m ×2 + 0.76sWARNros2_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 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706967 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706967 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233976 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233976 ms (missed cycles : 2).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.191ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791910986.57041550 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 3.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 3.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.25sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 3.25sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 3.25sINFOstate_estimatorReceived a set_pose request (stamp: 1791910986585989240, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361145 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361145 ms (missed cycles : 3).[0m ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.21) is out of map bounds (-4.15, 3.50) to (0.83, 8.48). The costmap cannot raytrace for it. + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.25) is out of map bounds (-4.15, 3.50) to (0.83, 8.48). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.77sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.77sINFOobjective_server_nodecaller: ×6 + 3.77sINFOobjective_server_nodetype: 0 ×6 + 3.77sINFOobjective_server_nodename: "" ×6 + 3.77sINFOobjective_server_nodeinstance_id: "" ×6 + 3.77sINFOobjective_server_node ×6 + 3.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791910987.17069077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.655ms + 4.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.11sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806618 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806618 ms (missed cycles : 3).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.715ms + 4.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.66sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.66sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.66sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616131 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616131 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773503 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773503 ms (missed cycles : 2).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537710 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537710 ms (missed cycles : 2).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778841 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778841 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259803 ms (missed cycles : 5). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259803 ms (missed cycles : 5).[0m ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 10.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.59sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.64sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 10.65sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 10.79sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.83sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952560 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952560 ms (missed cycles : 2).[0m ×2 + 11.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 11.64sINFOobjective_server_nodeFound path in 33 iterations (0.0331501 s). ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357512 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357512 ms (missed cycles : 2).[0m ×2 + 12.17sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 12.25sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 12.60sWARNros2_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 + 12.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 13.04sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686439 ms (missed cycles : 5). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686439 ms (missed cycles : 5).[0m ×2 + 13.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.99sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636044 ms (missed cycles : 5). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636044 ms (missed cycles : 5).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704044 ms (missed cycles : 2). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704044 ms (missed cycles : 2).[0m ×2 + 16.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.576ms + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057059 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057059 ms (missed cycles : 3).[0m ×2 + 17.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.251ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336256 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336256 ms (missed cycles : 3).[0m ×2 + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878871 ms (missed cycles : 3). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878871 ms (missed cycles : 3).[0m ×2 + 18.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.991ms + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284232 ms (missed cycles : 2). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284232 ms (missed cycles : 2).[0m ×2 + 19.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791911003.33446288 seconds ×3 + 20.03sINFOstate_estimatorReceived a set_pose request (stamp: 1791911003350930629, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 20.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 20.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911003.95364833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.61sINFOmove_groupClearing octomap...[0m ×2 + 20.61sINFOmove_groupOctomap cleared.[0m ×2 + 20.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 20.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.72sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 6.213ms + 20.73sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362011 ms (missed cycles : 4). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362011 ms (missed cycles : 4).[0m ×2 + 21.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911004.52377677 seconds ×3 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.992ms + 21.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.72sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791911005.10711074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191154 ms (missed cycles : 3). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191154 ms (missed cycles : 3).[0m ×2 + 22.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791911005.87724137 seconds ×3 + 22.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138756 ms (missed cycles : 2). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138756 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.0s	124 errors · 30 warnings · 584 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878871 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878871 ms (missed cycles : 3).[0m ×2 + 0.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.991ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284232 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284232 ms (missed cycles : 2).[0m ×2 + 1.95sINFOjoint_trajectory_controllerGoal reached, success! + 1.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791911003.33446288 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.98sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.99sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.00sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.00sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.01sINFOstate_estimatorReceived a set_pose request (stamp: 1791911003350930629, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.51sINFOobjective_server_nodecaller: ×4 + 2.51sINFOobjective_server_nodetype: 0 ×4 + 2.51sINFOobjective_server_nodename: "" ×4 + 2.51sINFOobjective_server_nodeinstance_id: "" ×4 + 2.51sINFOobjective_server_node ×4 + 2.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911003.95364833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 6.213ms + 2.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.71sINFOamclInitializing particles from estimated pose and covariance + 2.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362011 ms (missed cycles : 4). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362011 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911004.52377677 seconds ×3 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.992ms + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791911005.10711074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191154 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191154 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791911005.87724137 seconds ×3 + 4.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138756 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138756 ms (missed cycles : 2).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421441 ms (missed cycles : 4). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421441 ms (missed cycles : 4).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769847 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769847 ms (missed cycles : 2).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744742 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744742 ms (missed cycles : 2).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094676 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094676 ms (missed cycles : 2).[0m ×2 + 10.13sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.18sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.19sERRORweb_video_auth_proxy-41process has died [pid 8169, 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 + 10.19sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.20sERRORweb_bridge_auth_proxy-40process has died [pid 8152, 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 + 10.20sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.21sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.22sINFOvideo_server-39process has finished cleanly [pid 8141] ×2 + 10.22sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547652 ms (missed cycles : 2). + 10.24sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.25sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.26sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.26sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.28sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.29sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.30sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.32sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.33sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.34sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.35sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.38sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.38sINFOcontroller_managerShutdown request received.... + 10.38sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.38sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.38sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.39sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.39sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.39sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.39sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.39sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.39sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.39sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.39sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.39sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.39sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.39sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.39sINFOcontroller_managerShutting down the controller manager. + 10.40sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.41sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.42sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.42sERRORmove_group-25process has died [pid 8118, 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_riukktwt --params-file /tmp/launch_params_1s55q1ws --params-file /tmp/launch_params_27cn66j_ --params-file /tmp/launch_params_utxzm85d --params-file /tmp/launch_params_94ks85j9 --params-file /tmp/launch_params_k8o_uwt3']. ×2 + 10.43sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.45sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.46sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.47sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.48sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.49sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.51sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.51sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.51sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.51sINFOmap_serverDeactivating + 10.51sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.53sINFOmap_serverCleaning up + 10.53sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.53sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.53sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.53sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.53sINFOcontroller_serverDeactivating + 10.53sINFOlocal_costmap.local_costmapDeactivating + 10.53sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.53sINFOvideo_server2026/10/13 17:03:31 INF shutting down gracefully ×2 + 10.53sINFOvideo_server2026/10/13 17:03:31 INF [WebRTC] closing ×2 + 10.53sINFOvideo_server2026/10/13 17:03:31 INF [RTSP] closing ×2 + 10.53sINFOvideo_server2026/10/13 17:03:31 INF waiting for running hooks ×2 + 10.53sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547652 ms (missed cycles : 2).[0m ×2 + 10.53sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.53sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.53sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.53sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.53sERRORmove_groupStack trace (most recent call last) in thread 8782: ×2 + 10.53sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.53sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48fd4c4cc3, in __clone ×2 + 10.53sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48fd437b83, in ×2 + 10.53sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f48fd6c8db3, in ×2 + 10.53sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f48fde32064, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.53sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f48fda5c620, in rclcpp::Rate::sleep() ×2 + 10.53sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f48fd99ed18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.53sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f48fd960087, in ×2 + 10.53sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f48fd697390, in __cxa_throw ×2 + 10.53sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f48fd681a54, in std::terminate() ×2 + 10.53sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f48fd6970d9, in ×2 + 10.53sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f48fd681ff4, in ×2 + 10.53sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48fd3c38fe, in abort ×2 + 10.53sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48fd3e027d, in raise ×2 + 10.53sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f48fd439c0c, in pthread_kill ×2 + 10.53sERRORmove_groupAborted (Signal sent by tkill() 8118 0) ×2 + 10.53sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.53sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.54sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.54sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.54sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.54sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.54sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.54sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.54sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.54sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.54sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.54sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.54sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.54sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.54sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.54sERRORamclThe bond connection to the lifecycle manager has been broken + 10.60sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.60sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.60sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.61sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.62sINFOcontroller_serverCleaning up + 10.62sINFOlocal_costmap.local_costmapCleaning up + 10.67sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.67sINFOsmoother_serverDeactivating + 10.67sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.68sINFOsmoother_serverCleaning up + 10.70sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.70sINFOplanner_serverDeactivating + 10.70sINFOglobal_costmap.global_costmapDeactivating + 10.70sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.70sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.70sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.70sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.70sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.70sINFOvelocity_smootherDeactivating + 10.70sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.82sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.82sINFOwaypoint_followerDeactivating + 10.82sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.84sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.84sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.85sINFOplanner_serverCleaning up + 10.87sINFOglobal_costmap.global_costmapCleaning up + 10.87sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.87sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.91sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.91sINFObehavior_serverDeactivating + 10.91sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.92sINFObehavior_serverCleaning up + 10.92sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.92sINFObt_navigatorDeactivating + 10.92sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.93sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.93sERRORbt_navigatorUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.93sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator ×2 + 10.93sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.93sINFObt_navigatorCleaning up + 10.98sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.98sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.98sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.98sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.98sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.98sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.99sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.99sINFOvelocity_smootherCleaning up + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.99sINFOwaypoint_followerCleaning up + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.04sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.04sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.04sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.04sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.04sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.04sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.09sINFObt_navigatorCompleted Cleaning up + 11.09sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.09sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.09sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.26sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.26sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.26sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.26sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.26sINFOjoint_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 + 11.26sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.26sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.26sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.26sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.26sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.26sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.26sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.26sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.26sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.26sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.26sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.26sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.26sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.26sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.27sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8140] ×2 + 11.27sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.28sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.28sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.28sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.28sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.28sINFOtf_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 + 11.28sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.28sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.28sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.28sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.28sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.28sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.28sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.28sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.28sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.28sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.28sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.28sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.28sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.28sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.28sINFOtf_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 + 11.32sERRORjoint_state_visualization_relay-37process has died [pid 8136, 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_c46vo_29']. ×2 + 11.32sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.34sERRORtf_visualization_relay-36process has died [pid 8133, 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_nfqip8ya']. ×2 + 11.34sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.36sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8122] ×2 + 11.36sERRORcomponent_container_isolated-1process has died [pid 7944, 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_7jw5ttw7 --params-file /tmp/launch_params_wmxbx634 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.38sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8121] ×2 + 11.38sINFOui_teleop_bridge-34process has finished cleanly [pid 8128] ×2 + 11.40sINFOexecute_objective_bridge-33process has finished cleanly [pid 8126] ×2 + 11.42sINFOparameter_manager_node-26process has finished cleanly [pid 8119] ×2 + 11.44sINFOwaypoint_manager_node-27process has finished cleanly [pid 8120] ×2 + 11.46sINFOrelay-11process has finished cleanly [pid 8057] ×2 + 11.47sINFOrelay-10process has finished cleanly [pid 8056] ×2 + 11.47sINFOcomponent_container_mt-32process has finished cleanly [pid 8125] ×2 + 11.48sINFOobjective_server_node[2026-10-13 17:03:32.836] [moveit_pro_license] [critical] ×2 + 11.48sINFOobjective_server_node************************************************* ×4 + 11.48sINFOobjective_server_node* MoveIt Pro License ×2 + 11.48sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.48sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7952] ×2 + 11.49sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8058] ×2 + 11.50sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 7951] ×2 + 11.51sINFOstatic_transform_publisher-7process has finished cleanly [pid 7950] ×2 + 11.52sINFOstatic_transform_publisher-6process has finished cleanly [pid 7949] ×2 + 11.53sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.53sINFOlidar_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 + 11.53sINFOlidar_flattener.pymain() ×2 + 11.53sINFOlidar_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 + 11.53sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.53sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.53sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.53sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.53sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.53sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.53sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.53sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.53sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.53sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.53sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.53sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.53sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.53sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.53sINFOcomponent_container_mt-31process has finished cleanly [pid 8124] ×2 + 11.55sINFOstatic_transform_publisher-3process has finished cleanly [pid 7946] ×2 + 11.55sINFOobjective_server_node_main-30process has finished cleanly [pid 8123] ×2 + 11.55sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 11.57sERRORlidar_flattener.py-5process has died [pid 7948, 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_b7gwtaiq']. ×2 + 11.88sERRORcomponent_container_isolated-2process has died [pid 7945, 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_7jw5ttw7 --params-file /tmp/launch_params_t7se2qrm -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.53sINFOodom_world_drift-4process has finished cleanly [pid 7947] ×2 + 13.09sINFOweb_bridge-35process has finished cleanly [pid 8129] ×2 + 13.09sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 13.12sINFOros2_control_node-13process has finished cleanly [pid 8059] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 75 warnings · 165 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861662 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861662 ms (missed cycles : 3).[0m ×2 + 0.33sWARNros2_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 ×2 + 0.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878553 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878553 ms (missed cycles : 4).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.980ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098048 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098048 ms (missed cycles : 3).[0m ×2 + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.478ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778220 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778220 ms (missed cycles : 3).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791910846.90973830 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.29sINFOstate_estimatorReceived a set_pose request (stamp: 1791910846926002525, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 11.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 12.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.167ms + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.86sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791910847.51875544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625017 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625017 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131028 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131028 ms (missed cycles : 3).[0m ×2 + 5.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.41sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.42sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.42sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171838, yaw=-0.0184035 + 5.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.532ms + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620541 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620541 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861482 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861482 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647747 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647747 ms (missed cycles : 2).[0m ×2 + 9.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.372ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878424 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878424 ms (missed cycles : 2).[0m ×2 + 10.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.352ms + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609008 ms (missed cycles : 4). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609008 ms (missed cycles : 4).[0m ×2 + 11.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.393ms + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537076 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537076 ms (missed cycles : 3).[0m ×2 + 12.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.395ms + 12.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.517ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003654 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003654 ms (missed cycles : 2).[0m ×2 + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.791ms + 14.08sINFOobjective_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 + 14.09sINFOjoint_trajectory_controllerGot request to cancel goal + 14.09sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.09sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.09sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.12sERRORobjective_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: 1791910857.77412510 seconds ×3 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805125 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805125 ms (missed cycles : 2).[0m ×2 + 14.16sINFOstate_estimatorReceived a set_pose request (stamp: 1791910857792976711, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 14.32sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 2.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.32sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 2.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.42sWARNlocal_costmap.local_costmapSensor origin at (-0.57, 3.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.42sWARNlocal_costmap.local_costmapSensor origin at (-1.47, 3.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.72sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791910858.37821531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.86sINFOamclParticle filter update iteration stats: 4787 particles 811 points - 12.027ms + 14.86sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568152, y=-0.0171786, yaw=-0.0183892 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877284 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877284 ms (missed cycles : 2).[0m ×2 + 15.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.508ms + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782894 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782894 ms (missed cycles : 2).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392167 ms (missed cycles : 2). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392167 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.5s	55 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.55sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910755.34731102 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791910755376860895, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910755.95015383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.610ms + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.45sINFOamclInitializing particles from estimated pose and covariance + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.444ms + 3.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916072 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916072 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448771 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448771 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532709 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532709 ms (missed cycles : 2).[0m ×2 + 9.03sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791910761.81029677 seconds ×3 + 9.43sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985801 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985801 ms (missed cycles : 2).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046519 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046519 ms (missed cycles : 2).[0m ×2 + 10.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.57sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.62sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791910763.39922595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952205 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952205 ms (missed cycles : 3).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694706 ms (missed cycles : 5). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694706 ms (missed cycles : 5).[0m ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	51 warnings · 149 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.395ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746604 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746604 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.670ms + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.767ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776853 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776853 ms (missed cycles : 2).[0m ×2 + 1.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.835ms + 1.48sWARNros2_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 + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.374ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157169 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157169 ms (missed cycles : 5).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.912ms + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791910922.76840734 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.23sINFOstate_estimatorReceived a set_pose request (stamp: 1791910922785829702, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895249 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895249 ms (missed cycles : 3).[0m ×2 + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.48) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.41sWARNlocal_costmap.local_costmapSensor origin at (-3.59, 13.33) 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 - 6.770ms + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.51sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791910923.35003257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.867ms + 3.86sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.86sINFOamclInitializing particles from estimated pose and covariance + 3.86sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.86sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568744, y=-0.0171805, yaw=-0.0184009 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.30sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.30sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.30sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.166ms + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742159 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742159 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001594 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001594 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 9.71sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 10.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.26sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.74sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 12.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	36 warnings · 163 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619386 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619386 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843103 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843103 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893101 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893101 ms (missed cycles : 2).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.54sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791910691.74361992 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.62sINFOstate_estimatorReceived a set_pose request (stamp: 1791910691767733627, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791910692.33519721 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 3.668771 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668771 ms (missed cycles : 3).[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.586ms + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.26sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568357, y=-0.0171783, yaw=-0.0183893 + 3.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.820ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668786 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668786 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.7057e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.39sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.39sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.39sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781755 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781755 ms (missed cycles : 5).[0m ×2 + 5.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.403ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.577ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804464 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804464 ms (missed cycles : 2).[0m ×2 + 6.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.976ms + 6.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.934ms + 7.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.223ms + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505205 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505205 ms (missed cycles : 3).[0m ×2 + 7.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.694ms + 8.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.538ms + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356055 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356055 ms (missed cycles : 3).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.436ms + 8.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791910697.89531589 seconds ×3 + 8.76sINFOstate_estimatorReceived a set_pose request (stamp: 1791910697912343539, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.401ms + 9.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.28sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.34sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791910698.49717689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.47sINFOamclParticle filter update iteration stats: 1703 particles 811 points - 6.670ms + 9.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568125, y=-0.0171787, yaw=-0.0183892 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857367 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857367 ms (missed cycles : 2).[0m ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 9.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.144ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092544 ms (missed cycles : 5). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092544 ms (missed cycles : 5).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471925 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471925 ms (missed cycles : 2).[0m ×2 + 12.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	21 warnings · 128 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.251ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336256 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336256 ms (missed cycles : 3).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878871 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878871 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.991ms + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284232 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284232 ms (missed cycles : 2).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791911003.33446288 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1791911003350930629, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911003.95364833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.49sINFOmove_groupClearing octomap...[0m ×2 + 3.49sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 6.213ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362011 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362011 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911004.52377677 seconds ×3 + 4.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.992ms + 4.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791911005.10711074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191154 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191154 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791911005.87724137 seconds ×3 + 5.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138756 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138756 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421441 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421441 ms (missed cycles : 4).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.13sINFOmove_groupClearing octomap...[0m ×4 + 1.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.13sINFOmove_groupOctomap cleared.[0m ×4 + 1.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 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 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 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: "" + 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 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: 1791910648.66973662 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 ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.79sINFOcontroller_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052441 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052441 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619386 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619386 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843103 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843103 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893101 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893101 ms (missed cycles : 2).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791910691.74361992 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.61sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.61sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.62sINFOstate_estimatorReceived a set_pose request (stamp: 1791910691767733627, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791910692.33519721 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 3.668771 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668771 ms (missed cycles : 3).[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.586ms + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.26sINFOamclInitializing particles from estimated pose and covariance + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568357, y=-0.0171783, yaw=-0.0183893 + 3.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.820ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668786 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668786 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.7057e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781755 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781755 ms (missed cycles : 5).[0m ×2 + 5.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.403ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.577ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619386 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619386 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843103 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843103 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893101 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893101 ms (missed cycles : 2).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791910691.74361992 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.61sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.61sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.62sINFOstate_estimatorReceived a set_pose request (stamp: 1791910691767733627, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791910692.33519721 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 3.668771 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668771 ms (missed cycles : 3).[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.586ms + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.26sINFOamclInitializing particles from estimated pose and covariance + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568357, y=-0.0171783, yaw=-0.0183893 + 3.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.820ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668786 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668786 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.7057e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781755 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781755 ms (missed cycles : 5).[0m ×2 + 5.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.403ms + 5.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.577ms
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 335 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 86 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.403ms + 0.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.577ms + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804464 ms (missed cycles : 2). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804464 ms (missed cycles : 2).[0m ×2 + 0.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.976ms + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.934ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.223ms + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505205 ms (missed cycles : 3). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505205 ms (missed cycles : 3).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.694ms + 2.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.538ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356055 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356055 ms (missed cycles : 3).[0m ×2 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.436ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791910697.89531589 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.23sINFOstate_estimatorReceived a set_pose request (stamp: 1791910697912343539, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.401ms + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791910698.49717689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOamclParticle filter update iteration stats: 1703 particles 811 points - 6.670ms + 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=-0.0568125, y=-0.0171787, yaw=-0.0183892 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857367 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857367 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.144ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092544 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092544 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471925 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471925 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.64sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	34 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910755.34731102 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791910755376860895, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910755.95015383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.610ms + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.45sINFOamclInitializing particles from estimated pose and covariance + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.444ms + 3.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	34 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910755.34731102 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791910755376860895, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910755.95015383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.610ms + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.45sINFOamclInitializing particles from estimated pose and covariance + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.444ms + 3.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	34 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910755.34731102 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791910755376860895, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910755.95015383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.610ms + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.45sINFOamclInitializing particles from estimated pose and covariance + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.444ms + 3.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	34 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910755.34731102 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791910755376860895, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910755.95015383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.610ms + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.45sINFOamclInitializing particles from estimated pose and covariance + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.444ms + 3.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	34 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910755.34731102 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791910755376860895, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910755.95015383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.610ms + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.45sINFOamclInitializing particles from estimated pose and covariance + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.444ms + 3.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	34 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910755.34731102 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791910755376860895, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910755.95015383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.610ms + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.45sINFOamclInitializing particles from estimated pose and covariance + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.444ms + 3.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	34 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364010 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956180 ms (missed cycles : 3).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326518 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791910755.34731102 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1791910755376860895, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-4.20, 3.75) to (0.78, 8.73). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767874 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791910755.95015383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.610ms + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.45sINFOamclInitializing particles from estimated pose and covariance + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567748, y=-0.0171793, yaw=-0.0183891 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.444ms + 3.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.98sINFOjoint_trajectory_controllerReceived new action goal + 3.98sINFOjoint_trajectory_controllerAccepted new action goal + 3.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362457 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846603 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	32 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.749ms + 0.52sWARNros2_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 ×2 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.346ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746895 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746895 ms (missed cycles : 6).[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.379ms + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.374ms + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292388 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292388 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.199ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911189 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911189 ms (missed cycles : 3).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791910794.50936007 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791910794527843623, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-5.10, 5.70) to (-0.12, 10.68). The costmap cannot raytrace for it. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-5.10, 5.70) to (-0.12, 10.68). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.22) 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: 1791910795.09955573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.970ms + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.95sINFOamclInitializing particles from estimated pose and covariance + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665856 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665856 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.070ms + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470158 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470158 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484479 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484479 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_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 + 6.73sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	32 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.749ms + 0.52sWARNros2_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 ×2 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.346ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746895 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746895 ms (missed cycles : 6).[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.379ms + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.374ms + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292388 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292388 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.199ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911189 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911189 ms (missed cycles : 3).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791910794.50936007 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791910794527843623, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-5.10, 5.70) to (-0.12, 10.68). The costmap cannot raytrace for it. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-5.10, 5.70) to (-0.12, 10.68). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.22) 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: 1791910795.09955573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.970ms + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.95sINFOamclInitializing particles from estimated pose and covariance + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665856 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665856 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.070ms + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470158 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470158 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484479 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484479 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_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 + 6.73sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	32 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.749ms + 0.52sWARNros2_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 ×2 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.346ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746895 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746895 ms (missed cycles : 6).[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.379ms + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.374ms + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292388 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292388 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.199ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911189 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911189 ms (missed cycles : 3).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791910794.50936007 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791910794527843623, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-5.10, 5.70) to (-0.12, 10.68). The costmap cannot raytrace for it. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-5.10, 5.70) to (-0.12, 10.68). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.22) 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: 1791910795.09955573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.970ms + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.95sINFOamclInitializing particles from estimated pose and covariance + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665856 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665856 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.070ms + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470158 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470158 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484479 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484479 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_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 + 6.73sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 335 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_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 3.064128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_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 3.064128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 335 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[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 3.064128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_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 3.064128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_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 3.064128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_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 3.064128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_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 3.064128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064128 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572972 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673930 ms (missed cycles : 2).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791910929.27017546 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653047 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791910929.89021397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334859 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330043 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412389 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 128 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.251ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336256 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336256 ms (missed cycles : 3).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878871 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878871 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.991ms + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284232 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284232 ms (missed cycles : 2).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791911003.33446288 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1791911003350930629, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911003.95364833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.49sINFOmove_groupClearing octomap...[0m ×2 + 3.49sINFOmove_groupOctomap cleared.[0m ×2 + 3.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 6.213ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362011 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362011 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911004.52377677 seconds ×3 + 4.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.992ms + 4.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791911005.10711074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191154 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191154 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791911005.87724137 seconds ×3 + 5.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138756 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138756 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 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 · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	23 warnings · 337 info
+ 0.00sWARNros2_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 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 2.74sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.74sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.75sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.75sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.76sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.76sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.82sINFOobjective_server_nodecaller: ×10 + 3.82sINFOobjective_server_nodetype: 0 ×10 + 3.82sINFOobjective_server_nodename: "" ×10 + 3.82sINFOobjective_server_nodeinstance_id: "" ×10 + 3.82sINFOobjective_server_node ×10 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.87sINFOmove_groupClearing octomap...[0m ×4 + 3.87sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.87sINFOmove_groupOctomap cleared.[0m ×4 + 3.87sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 5.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.94sINFOjoint_trajectory_controllerReceived new action goal + 6.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.94sINFOjoint_trajectory_controllerAccepted new action goal + 6.94sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	20 warnings · 337 info
+ 0.00sWARNros2_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 + 0.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 2.74sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.74sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.75sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.75sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.76sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.76sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.82sINFOobjective_server_nodecaller: ×10 + 3.82sINFOobjective_server_nodetype: 0 ×10 + 3.82sINFOobjective_server_nodename: "" ×10 + 3.82sINFOobjective_server_nodeinstance_id: "" ×10 + 3.82sINFOobjective_server_node ×10 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.87sINFOmove_groupClearing octomap...[0m ×4 + 3.87sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.87sINFOmove_groupOctomap cleared.[0m ×4 + 3.87sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 5.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 335 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 335 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 335 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161838 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 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	24 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052441 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052441 ms (missed cycles : 4).[0m ×2

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

9 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527013 ms (missed cycles : 3).[0m ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310388 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910646.02726912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.89sINFOmove_groupClearing octomap...[0m ×4 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×4 + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910646.04012871 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938914 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910646.63164330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910646.64177847 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910647.23044133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312907 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910647.38100696 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910648.00472593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_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 + 3.88sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910648.07486868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278657 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791910648.66973662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486692 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal + 5.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683457 ms (missed cycles : 2).[0m ×2