MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

20.8s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

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2 pass

✓ passed	—	test_base_link_has_single_tf_parent	23.5s	12 errors · 318 warnings · 1575 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/2026-10-18-06-25-36-637654-7e2f464c3f3e-8031 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.85sINFOstatic_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' + 4.85sINFOstatic_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' + 4.88sINFOstatic_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' + 5.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 5.04sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 5.07sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 5.08sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.08sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.08sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.08sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.10sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.11sINFOmap_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. + 5.11sINFOmap_serverCreating + 5.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.16sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.17sINFOros2_control_node-13process started with pid [8196] ×2 + 5.18sINFOcontroller_serverCreating controller server + 5.19sINFOmove_group-25process started with pid [8252] ×2 + 5.19sINFOparameter_manager_node-26process started with pid [8253] ×2 + 5.19sINFOwaypoint_manager_node-27process started with pid [8254] ×2 + 5.19sINFOmove_joint_resampler_node-28process started with pid [8255] ×2 + 5.19sINFOmove_end_effector_resampler_node-29process started with pid [8256] ×2 + 5.19sINFOobjective_server_node_main-30process started with pid [8257] ×2 + 5.19sINFOcomponent_container_mt-31process started with pid [8258] ×2 + 5.19sINFOcomponent_container_mt-32process started with pid [8259] ×2 + 5.19sINFOexecute_objective_bridge-33process started with pid [8260] ×2 + 5.19sINFOui_teleop_bridge-34process started with pid [8262] ×2 + 5.19sINFOweb_bridge-35process started with pid [8263] ×2 + 5.19sINFOtf_visualization_relay-36process started with pid [8264] ×2 + 5.19sINFOjoint_state_visualization_relay-37process started with pid [8267] ×2 + 5.19sINFOtf2_web_republisher_node-38process started with pid [8268] ×2 + 5.19sINFOvideo_server-39process started with pid [8269] ×2 + 5.19sINFOweb_bridge_auth_proxy-40process started with pid [8270] ×2 + 5.19sINFOweb_video_auth_proxy-41process started with pid [8274] ×2 + 5.20sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.20sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.20sINFOcomponent_container_isolated-1process started with pid [8081] ×2 + 5.20sINFOcomponent_container_isolated-2process started with pid [8082] ×2 + 5.20sINFOstatic_transform_publisher-3process started with pid [8083] ×2 + 5.20sINFOodom_world_drift-4process started with pid [8084] ×2 + 5.20sINFOlidar_flattener.py-5process started with pid [8085] ×2 + 5.20sINFOstatic_transform_publisher-6process started with pid [8086] ×2 + 5.20sINFOstatic_transform_publisher-7process started with pid [8087] ×2 + 5.20sINFOscan_to_scan_filter_chain-8process started with pid [8088] ×2 + 5.20sINFOscan_to_scan_filter_chain-9process started with pid [8089] ×2 + 5.20sINFOrelay-10process started with pid [8193] ×2 + 5.20sINFOrelay-11process started with pid [8194] ×2 + 5.20sINFOfixed_lag_smoother_node-12process started with pid [8195] ×2 + 5.20sINFOros2-14process started with pid [8197] ×2 + 5.20sINFOros2-15process started with pid [8198] ×2 + 5.20sINFOros2-16process started with pid [8199] ×2 + 5.20sINFOros2-17process started with pid [8200] ×2 + 5.20sINFOros2-18process started with pid [8201] ×2 + 5.20sINFOros2-19process started with pid [8202] ×2 + 5.20sINFOros2-20process started with pid [8203] ×2 + 5.20sINFOros2-21process started with pid [8204] ×2 + 5.20sINFOros2-22process started with pid [8205] ×2 + 5.20sINFOros2-23process started with pid [8206] ×2 + 5.20sINFOros2-24process started with pid [8207] ×2 + 5.21sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 5.23sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.24sINFOstate_estimatorReceived a set_pose request (stamp: 1792304743696834468, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 5.24sINFOlocal_costmap.local_costmapCreating Costmap + 5.29sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.29sINFOcontroller_managerupdate rate is 600 Hz + 5.30sINFOcontroller_managerOverruns handling is : enabled + 5.30sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.30sWARNcontroller_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. + 5.31sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.31sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.31sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.31sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.31sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.31sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.31sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.31sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.31sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.31sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.31sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.31sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.34sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.34sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.34sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.34sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.34sWARNros2_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 + 5.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.36sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.36sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.40sINFOlifecycle_manager_localizationCreating + 5.41sINFOsmoother_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. + 5.44sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.44sINFOsmoother_serverCreating smoother server + 5.45sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.45sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.45sINFOmap_serverConfiguring + 5.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792931 ms (missed cycles : 2). + 5.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792931 ms (missed cycles : 2).[0m ×2 + 5.52sINFOplanner_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. + 5.54sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.54sINFOamclConfiguring + 5.55sINFOplanner_serverCreating + 5.56sINFOvideo_server2026/10/18 06:25:44 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.56sINFOvideo_server2026/10/18 06:25:44 INF configuration loaded from /tmp/moveit-webrtc-jwaukha_/mediamtx.yml ×2 + 5.56sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.56sINFOmap_serverActivating + 5.56sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.56sINFOvideo_server2026/10/18 06:25:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.56sINFOvideo_server2026/10/18 06:25:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.56sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.57sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.57sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.60sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.62sINFOglobal_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. + 5.62sINFOglobal_costmap.global_costmapCreating Costmap + 5.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.67sINFObehavior_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. + 5.68sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.68sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.68sINFOamclActivating + 5.68sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.68sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.69sINFOamclSubscribed to map_topic: /map + 5.69sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.69sINFOamclCreated reinitialize_global_localization service + 5.69sINFOamclCreated request_nomotion_update service + 5.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.71sINFOamclA new map was received + 5.71sINFOamclInitializing particle filter instance + 5.72sINFOrobot_state_publisherRobot initialized + 5.73sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.73sINFOcontroller_managerReceived robot description from topic. + 5.73sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.74sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.74sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.74sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.75sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.76sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.78sINFObt_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. + 5.80sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.80sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.80sINFObt_navigatorCreating + 5.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.82sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.82sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.85sINFOwaypoint_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. + 5.86sINFOwaypoint_followerCreating + 5.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.88sWARNlaser_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. + 5.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.88sWARNscan_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 + 5.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.89sWARNlaser_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. + 5.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.89sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.93sINFOvelocity_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. + 5.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 6.01sINFOlifecycle_manager_navigationCreating + 6.03sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 6.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 6.06sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 6.06sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 6.06sINFOcontroller_serverConfiguring controller interface + 6.06sINFOcontroller_servergetting progress checker plugins.. + 6.06sINFOcontroller_servergetting goal checker plugins.. + 6.06sINFOcontroller_serverController frequency set to 20.0000Hz + 6.06sINFOlocal_costmap.local_costmapConfiguring + 6.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 6.10sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 6.11sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 6.16sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 6.16sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 6.16sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 6.20sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.20sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.21sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 6.23sINFOcontroller_serverController Server has progress_checker progress checkers available. + 6.23sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 6.24sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 6.25sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.27sINFOweb_bridge_auth_proxy2026-10-18 06:25:44,733 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.28sINFOweb_bridge_auth_proxy2026-10-18 06:25:44,737 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.28sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.29sINFOweb_video_auth_proxy2026-10-18 06:25:44,744 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.31sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.31sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.34sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.34sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.35sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.35sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.36sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.36sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.36sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.36sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.36sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.36sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.36sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.36sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.36sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.37sINFOcontroller_serverOptimizer reset ×2 + 6.40sINFOamclParticle filter initialization completed + 6.40sINFOamclInitializing particles from estimated pose and covariance + 6.40sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.40sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.41sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.41sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.41sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.41sINFOcontroller_serverController Server has FollowPath controllers available. + 6.45sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.45sINFOsmoother_serverConfiguring smoother server + 6.47sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.48sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.50sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.50sINFOplanner_serverConfiguring + 6.50sINFOglobal_costmap.global_costmapConfiguring + 6.52sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.53sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.54sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.54sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.54sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.60sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.60sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.60sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.66sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.66sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.66sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.67sINFOplanner_serverPlanner Server has GridBased planners available. + 6.68sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.455826 seconds + 6.68sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.68sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.69sINFOmove_groupLoaded robot model in 0.455826 seconds[0m ×2 + 6.69sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.69sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.69sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.69sINFObehavior_serverConfiguring + 6.70sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.71sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.71sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.72sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.73sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.73sINFObehavior_serverConfiguring spin + 6.75sINFObehavior_serverConfiguring backup + 6.76sINFObehavior_serverConfiguring drive_on_heading + 6.77sINFObehavior_serverConfiguring assisted_teleop + 6.78sINFObehavior_serverConfiguring wait + 6.80sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.80sINFObt_navigatorConfiguring + 6.81sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.82sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.88sINFOwaypoint_manager_nodeLoaded robot model in 0.397826 seconds[0m ×2 + 6.88sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.89sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.99sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 7.04sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 7.05sINFOwaypoint_followerConfiguring + 7.07sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 7.07sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 7.07sINFOvelocity_smootherConfiguring velocity smoother + 7.09sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 7.09sINFOcontroller_serverActivating + 7.09sINFOlocal_costmap.local_costmapActivating + 7.09sINFOlocal_costmap.local_costmapChecking transform + 7.09sINFOlocal_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 ×8 + 7.25sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 7.25sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 7.25sWARNmove_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. + 7.25sWARNmove_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. + 7.25sWARNmove_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. + 7.25sWARNmove_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 + 7.25sWARNmove_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 + 7.25sWARNmove_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. + 7.25sWARNmove_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. + 7.25sWARNmove_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 + 7.25sWARNmove_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 + 7.25sWARNmove_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. + 7.25sWARNmove_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 + 7.25sWARNmove_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. + 7.25sWARNmove_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 + 7.25sWARNmove_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. + 7.25sWARNmove_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 + 7.25sWARNmove_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. + 7.25sWARNmove_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. + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615103 ms (missed cycles : 2). + 7.25sWARNmove_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 + 7.26sWARNmove_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 + 7.26sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615103 ms (missed cycles : 2).[0m ×2 + 7.32sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 7.32sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 7.32sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 7.32sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 7.35sINFOros2_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 + 7.35sINFOros2_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 + 7.36sWARNwaypoint_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. + 7.36sWARNwaypoint_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. + 7.36sWARNwaypoint_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 + 7.36sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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 + 7.54sINFOmove_group[2026-10-18 06:25:46.003] [moveit_pro_license] [info] ×2 + 7.54sINFOmove_group************************************************* ×4 + 7.54sINFOmove_group* MoveIt Pro License ×2 + 7.54sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.67sINFOwaypoint_manager_node[2026-10-18 06:25:46.129] [moveit_pro_license] [info] ×2 + 7.67sINFOwaypoint_manager_node************************************************* ×4 + 7.67sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.67sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.98sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.98sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.98sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.98sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.98sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.98sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.98sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.98sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.98sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.98sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.98sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.98sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.99sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.99sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.99sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.99sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.99sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.99sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.99sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 8.17sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 8.17sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 8.17sINFOros2_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 + 8.17sWARNros2_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 + 8.17sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 8.17sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 8.17sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 8.17sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 8.17sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 8.17sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 8.17sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 8.17sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 8.17sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 8.17sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 8.17sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 8.17sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 8.17sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 8.17sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 8.17sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 8.17sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 8.17sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 8.17sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.17sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.17sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 8.17sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 8.17sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.17sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.17sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 8.17sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 8.17sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 8.17sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.17sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 8.17sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 8.17sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 8.17sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 8.17sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 8.17sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 8.17sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 8.17sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.19sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.21sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.21sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.22sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.22sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 8.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 8.23sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 8.23sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.27sINFOobjective_server_node[2026-10-18 06:25:46.726] [moveit_pro_license] [info] ×2 + 8.27sINFOobjective_server_node************************************************* ×4 + 8.27sINFOobjective_server_node* MoveIt Pro License ×2 + 8.27sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021358 ms (missed cycles : 4). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021358 ms (missed cycles : 4).[0m ×2 + 8.31sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.31sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.32sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 8.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.32sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 8.32sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 8.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.32sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 8.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.32sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 8.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.36sINFOobjective_server_nodeLoaded robot model in 0.0337337 seconds[0m ×2 + 8.36sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.36sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.40sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.40sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.44sINFOros2_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 + 8.44sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.44sWARNros2_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 + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.55sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.55sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.56sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.59sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.59sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.60sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.60sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.60sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.60sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.61sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.61sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.61sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.61sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.61sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.61sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.61sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.61sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.62sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.62sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.62sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.62sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.62sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.62sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.62sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.63sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.63sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.74sINFOros2-20process has finished cleanly [pid 8203] ×2 + 8.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.84sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.84sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 8.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.85sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 8.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.88sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.88sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.92sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.92sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.92sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.92sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.92sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.92sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.93sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.94sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.94sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.96sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.97sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.97sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.97sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.97sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.97sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.97sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.97sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.97sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.97sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 9.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.09sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 9.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 9.10sWARNcomponent_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 + 9.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.23sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.35sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788535 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788535 ms (missed cycles : 2).[0m ×2 + 9.42sINFOros2_control_node[2026-10-18 06:25:47.880] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.43sINFOros2_control_node[2026-10-18 06:25:47.884] [info] Controller state will be published at 10 Hz. ×2 + 9.43sINFOros2_control_node[2026-10-18 06:25:47.885] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.48sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.48sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.49sINFOcomponent_container_mtLoaded robot model in 0.391722 seconds[0m ×2 + 9.49sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.49sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.76sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 9.76sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.76sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 9.80sINFOros2-22process has finished cleanly [pid 8205] ×2 + 9.83sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.83sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.83sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 9.96sINFOmove_groupMoveGroup debug mode is ON + 9.96sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.97sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.98sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.98sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.98sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.98sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.98sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.98sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.98sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.98sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.98sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.98sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.98sWARNcomponent_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 + 10.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 10.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 10.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 10.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 10.02sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 10.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 10.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 10.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 10.15sINFOmove_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 ****************************************************** + 10.15sINFOmove_group ×8 + 10.15sINFOmove_group****************************************************** ×4 + 10.15sINFOmove_group* MoveGroup using: ×2 + 10.15sINFOmove_group* - apply_planning_scene_service ×2 + 10.15sINFOmove_group* - clear_octomap_service ×2 + 10.15sINFOmove_group* - get_group_urdf ×2 + 10.15sINFOmove_group* - load_geometry_from_file ×2 + 10.15sINFOmove_group* - get_planning_scene_service ×2 + 10.15sINFOmove_group* - kinematics_service ×2 + 10.15sINFOmove_group* - save_geometry_to_file ×2 + 10.15sINFOmove_group* - GetPlanningGroups ×2 + 10.15sINFOmove_group* - URDFPlanningSceneCapability ×2 + 10.15sINFOmove_group[0m ×2 + 10.15sINFOmove_group[92mYou can start planning now![0m ×2 + 10.18sWARNros2_control_nodeCamera render tick took 0.76 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 + 10.18sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.18sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.18sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.18sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.31sINFOros2_control_node[2026-10-18 06:25:48.773] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.32sINFOros2_control_node[2026-10-18 06:25:48.775] [info] Controller state will be published at 10 Hz. ×2 + 10.32sINFOros2_control_node[2026-10-18 06:25:48.776] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.34sINFOcomponent_container_mt[2026-10-18 06:25:48.804] [moveit_pro_license] [info] ×2 + 10.34sINFOcomponent_container_mt************************************************* ×4 + 10.34sINFOcomponent_container_mt* MoveIt Pro License ×2 + 10.34sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825129 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825129 ms (missed cycles : 3).[0m ×2 + 10.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.62sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.63sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 10.63sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 10.67sINFOros2-21process has finished cleanly [pid 8204] ×2 + 10.71sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.71sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.72sINFOplatform_velocity_controllerconfigure successful + 10.72sINFOros2_control_nodeconfigure successful[0m ×6 + 10.72sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.72sINFOcontroller_managerSuccessfully switched controllers! ×21 + 10.72sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 10.73sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.73sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 11.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.08sINFOros2-17process has finished cleanly [pid 8200] ×2 + 11.09sINFOlocal_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. ×3 + 11.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 11.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 11.16sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.18sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1792304747.871 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133052 ms (missed cycles : 3). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133052 ms (missed cycles : 3).[0m ×2 + 11.57sINFOros2_control_node[2026-10-18 06:25:50.028] [info] Controller state will be published at 20 Hz. ×2 + 11.57sINFOros2_control_node[2026-10-18 06:25:50.030] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.88sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.88sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.88sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.88sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.88sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 11.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 11.95sINFOros2-23process has finished cleanly [pid 8206] ×2 + 11.96sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.96sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.96sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.96sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.96sINFOforce_torque_sensor_broadcasterconfigure successful + 11.97sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.97sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.97sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.97sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 12.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 12.32sINFOros2-14process has finished cleanly [pid 8197] ×2 + 12.32sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.32sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.35sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.35sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756859 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756859 ms (missed cycles : 2).[0m ×2 + 12.59sINFOlocal_costmap.local_costmapstart + 12.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.69sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.69sWARNcontroller_serverParameter controller_server.verbose not found + 12.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.69sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 12.69sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 12.69sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.75sINFOros2-16process has finished cleanly [pid 8199] ×2 + 12.76sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.76sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.77sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.77sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.78sINFOplatform_velocity_controller_nav2configure successful + 12.80sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.80sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.80sINFOsmoother_serverActivating + 12.80sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.89sINFOamclParticle filter update iteration stats: 1682 particles 811 points - 22.383ms + 12.91sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.91sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.91sINFOplanner_serverActivating + 12.91sINFOglobal_costmap.global_costmapActivating + 12.91sINFOglobal_costmap.global_costmapChecking transform + 12.91sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1792304751.348825, but only time 1792304751.964033 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 13.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 13.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 13.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 13.16sINFOros2-19process has finished cleanly [pid 8202] ×2 + 13.17sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 13.17sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 13.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 13.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 13.41sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1792304751.823746 but the earliest data is at time 1792304751.964033, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049097 ms (missed cycles : 3). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049097 ms (missed cycles : 3).[0m ×2 + 13.68sINFOros2_control_node[2026-10-18 06:25:52.142] [info] Controller state will be published at 20 Hz. ×2 + 13.68sINFOros2_control_node[2026-10-18 06:25:52.143] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.91sINFOglobal_costmap.global_costmapstart + 14.02sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 14.02sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 14.03sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 14.03sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 14.03sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 14.03sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 14.10sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 14.10sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 14.10sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 14.10sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 14.11sINFOros2-24process has finished cleanly [pid 8207] ×2 + 14.11sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 14.11sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 14.12sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 14.12sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 14.44sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 14.44sINFOcontroller_managerLoading controller 'vacuum_gripper' + 14.44sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 14.44sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 14.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 + 14.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_06bsce9_ --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_zdqakihf --params-file /tmp/launch_params_d2mjwfu5 [0m ×2 + 14.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 14.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 14.48sINFOros2-15process has finished cleanly [pid 8198] ×2 + 14.50sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 14.50sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 14.50sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 14.50sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 14.50sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 14.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 14.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 14.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 14.51sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 14.51sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 14.57sWARNobjective_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 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677597 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677597 ms (missed cycles : 2).[0m ×2 + 14.87sINFOros2-18process has finished cleanly [pid 8201] ×2 + 14.96sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 14.96sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.07sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.07sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.07sINFObehavior_serverActivating + 15.07sINFObehavior_serverActivating spin + 15.07sINFObehavior_serverActivating backup + 15.07sINFObehavior_serverActivating drive_on_heading + 15.07sINFObehavior_serverActivating assisted_teleop + 15.07sINFObehavior_serverActivating wait + 15.07sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.17sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.17sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.18sINFObt_navigatorActivating + 15.25sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.36sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.36sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.36sINFOwaypoint_followerActivating + 15.36sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.47sINFOvelocity_smootherActivating + 15.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.57sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.57sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.57sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386277 ms (missed cycles : 3). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386277 ms (missed cycles : 3).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528655 ms (missed cycles : 4). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528655 ms (missed cycles : 4).[0m ×2 + 17.02sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 17.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 17.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 17.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 17.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 17.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 17.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 17.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 17.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 17.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 17.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 17.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 17.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232638 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232638 ms (missed cycles : 2).[0m ×2 + 18.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241826 ms (missed cycles : 2). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241826 ms (missed cycles : 2).[0m ×2 + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 22.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 22.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 22.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 22.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 22.80sINFOobjective_server_nodecaller: ×10 + 22.80sINFOobjective_server_nodetype: 0 ×10 + 22.80sINFOobjective_server_nodename: "" ×10 + 22.80sINFOobjective_server_nodeinstance_id: "" ×10 + 22.80sINFOobjective_server_node ×10 + 22.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 22.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 22.85sINFOmove_groupClearing octomap...[0m ×4 + 22.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 22.85sINFOmove_groupOctomap cleared.[0m ×4 + 22.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 22.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 23.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 23.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 24.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 24.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 24.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 24.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 24.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 24.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 24.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 24.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 24.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 24.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 25.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 25.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	21 warnings · 335 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241826 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241826 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 2.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.88sINFOobjective_server_nodecaller: ×10 + 3.88sINFOobjective_server_nodetype: 0 ×10 + 3.88sINFOobjective_server_nodename: "" ×10 + 3.88sINFOobjective_server_nodeinstance_id: "" ×10 + 3.88sINFOobjective_server_node ×10 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.93sINFOmove_groupClearing octomap...[0m ×4 + 3.93sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.93sINFOmove_groupOctomap cleared.[0m ×4 + 3.93sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 5.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.49sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.54sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.56sINFOros2_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 pass29 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	66.2s	3 errors · 227 warnings · 276 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349874 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349874 ms (missed cycles : 3).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.625ms + 0.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.565ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799149 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799149 ms (missed cycles : 2).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.013ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087754 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087754 ms (missed cycles : 3).[0m ×2 + 2.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.590ms + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.570ms + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOjoint_trajectory_controllerGot request to cancel goal + 3.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.02sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.04sERRORobjective_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: 1792304970.95016694 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOstate_estimatorReceived a set_pose request (stamp: 1792304970968451242, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067584 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067584 ms (missed cycles : 3).[0m ×2 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.56sINFOamclParticle filter update iteration stats: 4828 particles 811 points - 10.171ms + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.56sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792304971.55406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.404ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408959 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408959 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737942 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737942 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889305 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889305 ms (missed cycles : 4).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978452 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978452 ms (missed cycles : 2).[0m ×2 + 8.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.356ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875198 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875198 ms (missed cycles : 3).[0m ×2 + 9.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.779ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036731 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036731 ms (missed cycles : 3).[0m ×2 + 9.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.594ms ×2 + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.122ms + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596593 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596593 ms (missed cycles : 3).[0m ×2 + 11.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.585ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699527 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699527 ms (missed cycles : 2).[0m ×2 + 11.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.912ms + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.593ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505985 ms (missed cycles : 3). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505985 ms (missed cycles : 3).[0m ×2 + 12.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.394ms + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.624ms + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170324 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170324 ms (missed cycles : 2).[0m ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055924 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055924 ms (missed cycles : 2).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.309ms + 15.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.698ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440790 ms (missed cycles : 3). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440790 ms (missed cycles : 3).[0m ×2 + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.392ms + 16.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.784ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688384 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688384 ms (missed cycles : 2).[0m ×2 + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.420ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197503 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197503 ms (missed cycles : 2).[0m ×2 + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 18.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.181ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285767 ms (missed cycles : 3). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285767 ms (missed cycles : 3).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.091ms + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925928 ms (missed cycles : 3). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925928 ms (missed cycles : 3).[0m ×2 + 20.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.882ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.788ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835026 ms (missed cycles : 2). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835026 ms (missed cycles : 2).[0m ×2 + 21.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.710ms ×2 + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.205ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686870 ms (missed cycles : 3). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686870 ms (missed cycles : 3).[0m ×2 + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.661ms + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.885ms + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226700 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226700 ms (missed cycles : 2).[0m ×2 + 24.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.430ms + 24.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911162 ms (missed cycles : 3). + 24.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911162 ms (missed cycles : 3).[0m ×2 + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.475ms + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.994ms + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040599 ms (missed cycles : 2). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040599 ms (missed cycles : 2).[0m ×2 + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.255ms + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959946 ms (missed cycles : 3). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959946 ms (missed cycles : 3).[0m ×2 + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.614ms + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515795 ms (missed cycles : 4). + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515795 ms (missed cycles : 4).[0m ×2 + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.084ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.007ms + 28.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289379 ms (missed cycles : 3). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289379 ms (missed cycles : 3).[0m ×2 + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.263ms + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182316 ms (missed cycles : 3). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182316 ms (missed cycles : 3).[0m ×2 + 30.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.146ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.489ms + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409664 ms (missed cycles : 3). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409664 ms (missed cycles : 3).[0m ×2 + 31.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.801ms + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073711 ms (missed cycles : 3). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073711 ms (missed cycles : 3).[0m ×2 + 32.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 32.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.954ms + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229838 ms (missed cycles : 3). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229838 ms (missed cycles : 3).[0m ×2 + 33.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.928ms + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563841 ms (missed cycles : 3). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563841 ms (missed cycles : 3).[0m ×2 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.338ms + 34.75sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.75sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964857 ms (missed cycles : 5). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964857 ms (missed cycles : 5).[0m ×2 + 35.60sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200378 ms (missed cycles : 3). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200378 ms (missed cycles : 3).[0m ×2 + 36.64sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016234 ms (missed cycles : 2). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016234 ms (missed cycles : 2).[0m ×2 + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370943 ms (missed cycles : 2). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370943 ms (missed cycles : 2).[0m ×2 + 39.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.801ms + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763655 ms (missed cycles : 2). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763655 ms (missed cycles : 2).[0m ×2 + 39.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.169ms + 40.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.739ms + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737955 ms (missed cycles : 2). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737955 ms (missed cycles : 2).[0m ×2 + 41.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.980ms + 41.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.211ms + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749583 ms (missed cycles : 2). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749583 ms (missed cycles : 2).[0m ×2 + 42.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176581 ms (missed cycles : 2). + 42.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176581 ms (missed cycles : 2).[0m ×2 + 44.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094977 ms (missed cycles : 3). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094977 ms (missed cycles : 3).[0m ×2 + 44.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.029ms + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184474 ms (missed cycles : 2). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184474 ms (missed cycles : 2).[0m ×2 + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984130 ms (missed cycles : 3). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984130 ms (missed cycles : 3).[0m ×2 + 46.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.952ms + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192721 ms (missed cycles : 2). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192721 ms (missed cycles : 2).[0m ×2 + 47.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.679ms + 48.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.531ms + 48.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897793 ms (missed cycles : 2). + 48.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897793 ms (missed cycles : 2).[0m ×2 + 48.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.504ms + 48.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.058ms + 49.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.919ms + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751179 ms (missed cycles : 2). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751179 ms (missed cycles : 2).[0m ×2 + 49.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.359ms + 50.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153965 ms (missed cycles : 4). + 50.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153965 ms (missed cycles : 4).[0m ×2 + 50.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.738ms + 50.73sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 51.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734727 ms (missed cycles : 3). + 51.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734727 ms (missed cycles : 3).[0m ×2 + 52.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834478 ms (missed cycles : 2). + 52.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834478 ms (missed cycles : 2).[0m ×2 + 53.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884663 ms (missed cycles : 2). + 53.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884663 ms (missed cycles : 2).[0m ×2 + 54.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.723ms + 54.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008430 ms (missed cycles : 5). + 54.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008430 ms (missed cycles : 5).[0m ×2 + 54.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.050ms + 55.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.045ms + 55.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.526ms + 55.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841410 ms (missed cycles : 2). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841410 ms (missed cycles : 2).[0m ×2 + 55.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.962ms + 56.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.809ms + 56.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.241ms + 56.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154239 ms (missed cycles : 3). + 56.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154239 ms (missed cycles : 3).[0m ×2 + 57.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.239ms + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389141 ms (missed cycles : 2). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389141 ms (missed cycles : 2).[0m ×2 + 58.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385769 ms (missed cycles : 2). + 58.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385769 ms (missed cycles : 2).[0m ×2 + 59.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.137ms + 59.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433052 ms (missed cycles : 4). + 59.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433052 ms (missed cycles : 4).[0m ×2 + 61.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162645 ms (missed cycles : 5). + 61.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162645 ms (missed cycles : 5).[0m ×2 + 62.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457097 ms (missed cycles : 3). + 62.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457097 ms (missed cycles : 3).[0m ×2 + 63.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133810 ms (missed cycles : 2). + 63.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133810 ms (missed cycles : 2).[0m ×2 + 64.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119537 ms (missed cycles : 2). + 64.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119537 ms (missed cycles : 2).[0m ×2 + 64.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.495ms + 65.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752774 ms (missed cycles : 4). + 65.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752774 ms (missed cycles : 4).[0m ×2 + 65.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.993ms + 66.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719435 ms (missed cycles : 2). + 66.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719435 ms (missed cycles : 2).[0m ×2 + 66.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.524ms + 66.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.637ms + 67.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.511ms + 67.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936364 ms (missed cycles : 2). + 67.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936364 ms (missed cycles : 2).[0m ×2 + 67.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.669ms + 67.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.918ms + 68.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667875 ms (missed cycles : 3). + 68.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667875 ms (missed cycles : 3).[0m ×2 + 69.26sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792305037.17425466 seconds ×3 + 69.29sINFOstate_estimatorReceived a set_pose request (stamp: 1792305037191258267, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 69.34sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.58) is out of map bounds (-4.30, 5.00) to (0.68, 9.98). The costmap cannot raytrace for it. + 69.34sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.41) is out of map bounds (-4.30, 5.00) to (0.68, 9.98). The costmap cannot raytrace for it. + 69.44sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 69.44sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.41) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 69.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052001 ms (missed cycles : 2). + 69.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052001 ms (missed cycles : 2).[0m ×2 + 69.54sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 69.54sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 69.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.80sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.85sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.823ms + 69.86sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 69.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792305037.77081084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 70.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.188ms + 70.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620088 ms (missed cycles : 3). + 70.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620088 ms (missed cycles : 3).[0m ×2 + 71.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783556 ms (missed cycles : 3). + 71.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783556 ms (missed cycles : 3).[0m ×2 + 72.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2). + 72.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.6s	195 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.93sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.31sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849563 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849563 ms (missed cycles : 3).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748832 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748832 ms (missed cycles : 2).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.444ms + 9.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.167ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664518 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664518 ms (missed cycles : 2).[0m ×2 + 9.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.957ms + 10.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.145ms + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651273 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651273 ms (missed cycles : 3).[0m ×2 + 11.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.433ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852391 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852391 ms (missed cycles : 3).[0m ×2 + 11.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.947ms + 12.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.305ms + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.026153 ms (missed cycles : 6). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.026153 ms (missed cycles : 6).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.215ms + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361158 ms (missed cycles : 3). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361158 ms (missed cycles : 3).[0m ×2 + 13.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.658ms + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.317ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465819 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465819 ms (missed cycles : 3).[0m ×2 + 15.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.572ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.079ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026856 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026856 ms (missed cycles : 3).[0m ×2 + 15.98sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.455ms + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755868 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755868 ms (missed cycles : 3).[0m ×2 + 17.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.294ms + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.390ms + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475142 ms (missed cycles : 3). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475142 ms (missed cycles : 3).[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.458ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.298ms + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897603 ms (missed cycles : 2). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897603 ms (missed cycles : 2).[0m ×2 + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.288ms + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689493 ms (missed cycles : 2). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689493 ms (missed cycles : 2).[0m ×2 + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.889ms + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.546ms + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021204 ms (missed cycles : 3). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021204 ms (missed cycles : 3).[0m ×2 + 21.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.730ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.387ms + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474953 ms (missed cycles : 2). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474953 ms (missed cycles : 2).[0m ×2 + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.656ms + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739780 ms (missed cycles : 4). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739780 ms (missed cycles : 4).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.177ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.537ms + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748001 ms (missed cycles : 2). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748001 ms (missed cycles : 2).[0m ×2 + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.488ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717455 ms (missed cycles : 2). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717455 ms (missed cycles : 2).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.227ms + 26.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.553ms + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764296 ms (missed cycles : 2). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764296 ms (missed cycles : 2).[0m ×2 + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.193ms + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386705 ms (missed cycles : 2). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386705 ms (missed cycles : 2).[0m ×2 + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.980ms + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.890ms + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938976 ms (missed cycles : 3). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938976 ms (missed cycles : 3).[0m ×2 + 28.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.876ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530994 ms (missed cycles : 3). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530994 ms (missed cycles : 3).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.656ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.643ms + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692983 ms (missed cycles : 2). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692983 ms (missed cycles : 2).[0m ×2 + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.078ms + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132850 ms (missed cycles : 2). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132850 ms (missed cycles : 2).[0m ×2 + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.577ms + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.442ms + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722017 ms (missed cycles : 3). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722017 ms (missed cycles : 3).[0m ×2 + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 33.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365612 ms (missed cycles : 5). + 33.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365612 ms (missed cycles : 5).[0m ×2 + 33.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.171ms + 34.72sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.73sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156857 ms (missed cycles : 4). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156857 ms (missed cycles : 4).[0m ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251486 ms (missed cycles : 4). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251486 ms (missed cycles : 4).[0m ×2 + 36.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.241ms + 36.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393202 ms (missed cycles : 4). + 36.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393202 ms (missed cycles : 4).[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117616 ms (missed cycles : 4). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117616 ms (missed cycles : 4).[0m ×2 + 38.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.556ms + 38.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333500 ms (missed cycles : 2). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333500 ms (missed cycles : 2).[0m ×2 + 39.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.261ms + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984093 ms (missed cycles : 3). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984093 ms (missed cycles : 3).[0m ×2 + 41.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740083 ms (missed cycles : 2). + 41.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740083 ms (missed cycles : 2).[0m ×2 + 41.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.189ms + 42.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929002 ms (missed cycles : 5). + 42.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929002 ms (missed cycles : 5).[0m ×2 + 43.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889593 ms (missed cycles : 6). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889593 ms (missed cycles : 6).[0m ×2 + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081443 ms (missed cycles : 3). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081443 ms (missed cycles : 3).[0m ×2 + 44.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.886ms + 45.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.828ms + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944288 ms (missed cycles : 3). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944288 ms (missed cycles : 3).[0m ×2 + 46.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817254 ms (missed cycles : 5). + 46.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817254 ms (missed cycles : 5).[0m ×2 + 47.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145342 ms (missed cycles : 5). + 47.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145342 ms (missed cycles : 5).[0m ×2 + 48.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.938ms + 48.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896614 ms (missed cycles : 4). + 48.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896614 ms (missed cycles : 4).[0m ×2 + 49.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.867ms + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684197 ms (missed cycles : 2). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684197 ms (missed cycles : 2).[0m ×2 + 50.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301224 ms (missed cycles : 2). + 50.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301224 ms (missed cycles : 2).[0m ×2 + 51.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.874ms + 51.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224787 ms (missed cycles : 2). + 51.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224787 ms (missed cycles : 2).[0m ×2 + 52.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.222ms + 52.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871646 ms (missed cycles : 2). + 52.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871646 ms (missed cycles : 2).[0m ×2 + 53.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835901 ms (missed cycles : 3). + 53.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835901 ms (missed cycles : 3).[0m ×2 + 55.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155909 ms (missed cycles : 3). + 55.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155909 ms (missed cycles : 3).[0m ×2 + 55.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.305ms + 56.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763018 ms (missed cycles : 3). + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763018 ms (missed cycles : 3).[0m ×2 + 57.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616640 ms (missed cycles : 3). + 57.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616640 ms (missed cycles : 3).[0m ×2 + 58.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040574 ms (missed cycles : 4). + 58.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040574 ms (missed cycles : 4).[0m ×2 + 59.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396556 ms (missed cycles : 3). + 59.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396556 ms (missed cycles : 3).[0m ×2 + 59.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.485ms + 60.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066592 ms (missed cycles : 2). + 60.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066592 ms (missed cycles : 2).[0m ×2 + 60.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792305101.29480076 seconds ×3 + 60.62sINFOstate_estimatorReceived a set_pose request (stamp: 1792305101313355869, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.63sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.85, -1.35) to (2.13, 3.63). The costmap cannot raytrace for it. ×2 + 60.63sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.61) is out of map bounds (-2.85, -1.35) to (2.13, 3.63). The costmap cannot raytrace for it. ×2 + 60.83sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.83sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.92sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.913ms + 60.93sWARNlocal_costmap.local_costmapSensor origin at (-0.68, 4.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.93sWARNlocal_costmap.local_costmapSensor origin at (-1.58, 4.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.13sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.19sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792305101.90947580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.26sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 38.010ms + 61.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.26sINFOamclInitializing particles from estimated pose and covariance + 61.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568652, y=-0.0171807, yaw=-0.0184012 + 61.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490442 ms (missed cycles : 3). + 61.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490442 ms (missed cycles : 3).[0m ×2 + 61.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.720ms + 61.60sINFOobjective_server_nodeFound path in 0 iterations (5.64e-07 s). ×2 + 61.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316005 ms (missed cycles : 2). + 62.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316005 ms (missed cycles : 2).[0m ×2 + 63.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877187 ms (missed cycles : 2). + 63.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877187 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.5s	193 warnings · 231 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.033ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.867ms + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.174ms + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.074ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772746 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772746 ms (missed cycles : 3).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.454ms + 1.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.232ms + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.376ms + 2.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.332ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037343 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037343 ms (missed cycles : 4).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.327ms + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.429ms + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792304813.14957070 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOstate_estimatorReceived a set_pose request (stamp: 1792304813167200341, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729503 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729503 ms (missed cycles : 2).[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 5.469ms + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792304813.75625539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750601 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750601 ms (missed cycles : 2).[0m ×2 + 5.29sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.29sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.29sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.558ms + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877056 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877056 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.35sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.35sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382331 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382331 ms (missed cycles : 2).[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783137 ms (missed cycles : 3). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783137 ms (missed cycles : 3).[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.037ms + 9.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.309ms + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482704 ms (missed cycles : 4). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482704 ms (missed cycles : 4).[0m ×2 + 9.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.282ms + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027781 ms (missed cycles : 3). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027781 ms (missed cycles : 3).[0m ×2 + 10.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.862ms + 10.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.173ms + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258389 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258389 ms (missed cycles : 2).[0m ×2 + 11.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.666ms + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.278ms + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335500 ms (missed cycles : 3). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335500 ms (missed cycles : 3).[0m ×2 + 12.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.525ms + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224645 ms (missed cycles : 5). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224645 ms (missed cycles : 5).[0m ×2 + 13.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.267ms + 14.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.627ms + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338507 ms (missed cycles : 3). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338507 ms (missed cycles : 3).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.270ms + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.991ms + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165178 ms (missed cycles : 3). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165178 ms (missed cycles : 3).[0m ×2 + 16.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.912ms + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958106 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958106 ms (missed cycles : 2).[0m ×2 + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.130ms + 17.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.811ms + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261902 ms (missed cycles : 5). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.261902 ms (missed cycles : 5).[0m ×2 + 18.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.746ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344459 ms (missed cycles : 3). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344459 ms (missed cycles : 3).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.464ms + 19.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.488ms + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563448 ms (missed cycles : 3). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563448 ms (missed cycles : 3).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.377ms + 20.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.375ms + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548242 ms (missed cycles : 3). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548242 ms (missed cycles : 3).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.367ms + 21.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723020 ms (missed cycles : 6). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723020 ms (missed cycles : 6).[0m ×2 + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.585ms + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.119ms + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394723 ms (missed cycles : 2). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394723 ms (missed cycles : 2).[0m ×2 + 23.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.973ms + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.000ms + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860834 ms (missed cycles : 2). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860834 ms (missed cycles : 2).[0m ×2 + 24.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.233ms + 25.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.415ms + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918018 ms (missed cycles : 2). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918018 ms (missed cycles : 2).[0m ×2 + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.321ms + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645333 ms (missed cycles : 4). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645333 ms (missed cycles : 4).[0m ×2 + 26.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.702ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.130ms + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597860 ms (missed cycles : 6). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.597860 ms (missed cycles : 6).[0m ×2 + 27.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.914ms + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308593 ms (missed cycles : 3). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308593 ms (missed cycles : 3).[0m ×2 + 28.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.740ms + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.882ms + 29.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722817 ms (missed cycles : 3). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722817 ms (missed cycles : 3).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.259ms + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.716ms + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742958 ms (missed cycles : 3). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742958 ms (missed cycles : 3).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.151ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337906 ms (missed cycles : 3). + 31.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337906 ms (missed cycles : 3).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.486ms + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.038ms + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252238 ms (missed cycles : 4). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252238 ms (missed cycles : 4).[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.427ms + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847366 ms (missed cycles : 2). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847366 ms (missed cycles : 2).[0m ×2 + 34.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.504ms + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060004 ms (missed cycles : 3). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060004 ms (missed cycles : 3).[0m ×2 + 34.76sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.78sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848656 ms (missed cycles : 3). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848656 ms (missed cycles : 3).[0m ×2 + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848925 ms (missed cycles : 3). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848925 ms (missed cycles : 3).[0m ×2 + 37.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.901ms + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606623 ms (missed cycles : 2). + 37.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606623 ms (missed cycles : 2).[0m ×2 + 38.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.835ms + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894719 ms (missed cycles : 3). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894719 ms (missed cycles : 3).[0m ×2 + 40.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316351 ms (missed cycles : 3). + 40.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316351 ms (missed cycles : 3).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724629 ms (missed cycles : 5). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724629 ms (missed cycles : 5).[0m ×2 + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.447ms + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965991 ms (missed cycles : 5). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965991 ms (missed cycles : 5).[0m ×2 + 42.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.846ms + 43.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687739 ms (missed cycles : 3). + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687739 ms (missed cycles : 3).[0m ×2 + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136199 ms (missed cycles : 2). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136199 ms (missed cycles : 2).[0m ×2 + 44.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.417ms + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741746 ms (missed cycles : 3). + 45.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741746 ms (missed cycles : 3).[0m ×2 + 45.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.510ms + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101457 ms (missed cycles : 3). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101457 ms (missed cycles : 3).[0m ×2 + 47.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632144 ms (missed cycles : 4). + 47.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632144 ms (missed cycles : 4).[0m ×2 + 48.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.864ms + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268666 ms (missed cycles : 4). + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268666 ms (missed cycles : 4).[0m ×2 + 49.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178133 ms (missed cycles : 2). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178133 ms (missed cycles : 2).[0m ×2 + 50.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408538 ms (missed cycles : 3). + 50.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408538 ms (missed cycles : 3).[0m ×2 + 51.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927921 ms (missed cycles : 2). + 51.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927921 ms (missed cycles : 2).[0m ×2 + 51.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.888ms + 52.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692309 ms (missed cycles : 2). + 52.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692309 ms (missed cycles : 2).[0m ×2 + 53.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316764 ms (missed cycles : 2). + 53.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316764 ms (missed cycles : 2).[0m ×2 + 54.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976644 ms (missed cycles : 3). + 54.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976644 ms (missed cycles : 3).[0m ×2 + 55.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.139ms + 55.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490902 ms (missed cycles : 3). + 55.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490902 ms (missed cycles : 3).[0m ×2 + 57.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031933 ms (missed cycles : 4). + 57.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031933 ms (missed cycles : 4).[0m ×2 + 58.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2). + 58.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2).[0m ×2 + 59.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5).[0m ×2 + 60.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3). + 60.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3).[0m ×2 + 60.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 60.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792304870.64639783 seconds ×3 + 60.67sINFOstate_estimatorReceived a set_pose request (stamp: 1792304870671977543, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 60.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 60.83sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.83sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.94sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.94sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2). + 61.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2).[0m ×2 + 61.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.055ms + 61.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 61.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792304871.25504851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.426ms + 61.67sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 62.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2). + 62.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2).[0m ×2 + 63.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4). + 63.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4).[0m ×2 + 64.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5). + 64.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	50.4s	187 warnings · 235 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.703ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.039ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.010ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.029ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792304909.84567952 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOstate_estimatorReceived a set_pose request (stamp: 1792304909870006595, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2).[0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.523ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.68sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" 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" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792304910.44493055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.261ms + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.30sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.30sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.30sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247202 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247202 ms (missed cycles : 2).[0m ×2 + 8.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.090ms + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073987 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073987 ms (missed cycles : 4).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.397ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135161 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135161 ms (missed cycles : 2).[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.148ms + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.452ms + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656659 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656659 ms (missed cycles : 3).[0m ×2 + 10.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.566ms + 11.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.639ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141514 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141514 ms (missed cycles : 2).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.462ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716366 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716366 ms (missed cycles : 2).[0m ×2 + 12.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.224ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.479ms + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143307 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143307 ms (missed cycles : 2).[0m ×2 + 14.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.256ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.385ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837813 ms (missed cycles : 3). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837813 ms (missed cycles : 3).[0m ×2 + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.058ms + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972712 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972712 ms (missed cycles : 2).[0m ×2 + 16.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.653ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.451ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649919 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649919 ms (missed cycles : 3).[0m ×2 + 17.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.821ms + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849905 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849905 ms (missed cycles : 2).[0m ×2 + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.322ms + 18.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.097ms + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261900 ms (missed cycles : 4). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261900 ms (missed cycles : 4).[0m ×2 + 19.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.687ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737120 ms (missed cycles : 3). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737120 ms (missed cycles : 3).[0m ×2 + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.351ms + 20.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.045ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023404 ms (missed cycles : 3). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023404 ms (missed cycles : 3).[0m ×2 + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.460ms + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.724ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.457566 ms (missed cycles : 6). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.457566 ms (missed cycles : 6).[0m ×2 + 22.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.514ms + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640621 ms (missed cycles : 3). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640621 ms (missed cycles : 3).[0m ×2 + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.553ms + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.323ms + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667243 ms (missed cycles : 4). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667243 ms (missed cycles : 4).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.326ms + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732766 ms (missed cycles : 5). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732766 ms (missed cycles : 5).[0m ×2 + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.460ms + 26.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.687ms + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394451 ms (missed cycles : 3). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394451 ms (missed cycles : 3).[0m ×2 + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.563ms + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127643 ms (missed cycles : 2). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127643 ms (missed cycles : 2).[0m ×2 + 27.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.498ms + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.640ms + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738094 ms (missed cycles : 2). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738094 ms (missed cycles : 2).[0m ×2 + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.287ms + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.885ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259211 ms (missed cycles : 3). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259211 ms (missed cycles : 3).[0m ×2 + 30.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.373ms + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696406 ms (missed cycles : 2). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696406 ms (missed cycles : 2).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.036ms + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.112ms + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772424 ms (missed cycles : 3). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772424 ms (missed cycles : 3).[0m ×2 + 32.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.272ms + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.019ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201482 ms (missed cycles : 3). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201482 ms (missed cycles : 3).[0m ×2 + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.569ms + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668744 ms (missed cycles : 4). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668744 ms (missed cycles : 4).[0m ×2 + 34.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.620ms + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840769 ms (missed cycles : 3). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840769 ms (missed cycles : 3).[0m ×2 + 35.44sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.67sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: 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 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.657354 ms (missed cycles : 6). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.657354 ms (missed cycles : 6).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160240 ms (missed cycles : 3). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160240 ms (missed cycles : 3).[0m ×2 + 37.87sINFOobjective_server_nodePlanning for 23 path waypoints. ×3 + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505667 ms (missed cycles : 4). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505667 ms (missed cycles : 4).[0m ×2 + 39.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809662 ms (missed cycles : 3). + 39.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809662 ms (missed cycles : 3).[0m ×2 + 39.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.990ms + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230593 ms (missed cycles : 4). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230593 ms (missed cycles : 4).[0m ×2 + 40.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.695ms + 41.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490594 ms (missed cycles : 3). + 41.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490594 ms (missed cycles : 3).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.741ms + 42.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.241ms + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415236 ms (missed cycles : 3). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415236 ms (missed cycles : 3).[0m ×2 + 42.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.686ms + 43.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790170 ms (missed cycles : 2). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790170 ms (missed cycles : 2).[0m ×2 + 43.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.986ms + 44.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263988 ms (missed cycles : 4). + 44.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263988 ms (missed cycles : 4).[0m ×2 + 45.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441515 ms (missed cycles : 3). + 45.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441515 ms (missed cycles : 3).[0m ×2 + 45.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.715ms + 46.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.333ms + 46.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482731 ms (missed cycles : 3). + 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482731 ms (missed cycles : 3).[0m ×2 + 46.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.496ms + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.967ms + 47.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.196ms + 47.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.811ms + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147228 ms (missed cycles : 3). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147228 ms (missed cycles : 3).[0m ×2 + 47.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.605ms + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.233ms + 48.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.117ms + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467931 ms (missed cycles : 3). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467931 ms (missed cycles : 3).[0m ×2 + 48.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.678ms + 49.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.168ms + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401124 ms (missed cycles : 3). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401124 ms (missed cycles : 3).[0m ×2 + 50.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.312ms + 50.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555455 ms (missed cycles : 4). + 50.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555455 ms (missed cycles : 4).[0m ×2 + 51.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.247ms + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345283 ms (missed cycles : 3). + 51.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345283 ms (missed cycles : 3).[0m ×2 + 52.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.611ms + 52.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412596 ms (missed cycles : 3). + 52.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412596 ms (missed cycles : 3).[0m ×2 + 53.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792304960.28507590 seconds ×3 + 53.62sINFOstate_estimatorReceived a set_pose request (stamp: 1792304960300039368, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 53.75sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 11.73) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 53.75sWARNlocal_costmap.local_costmapSensor origin at (-2.92, 12.24) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 53.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989572 ms (missed cycles : 3). + 53.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989572 ms (missed cycles : 3).[0m ×2 + 53.85sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 11.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 53.85sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 12.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 54.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 54.13sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 54.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.113ms + 54.18sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569019, y=-0.0171798, yaw=-0.0184 + 54.19sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792304960.88614488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 54.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.811ms + 54.61sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406553 ms (missed cycles : 3). + 54.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406553 ms (missed cycles : 3).[0m ×2 + 55.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686093 ms (missed cycles : 3). + 55.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686093 ms (missed cycles : 3).[0m ×2 + 56.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013325 ms (missed cycles : 3). + 56.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013325 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 427 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.08sINFOobjective_server_nodecaller: ×12 + 1.08sINFOobjective_server_nodetype: 0 ×12 + 1.08sINFOobjective_server_nodename: "" ×12 + 1.08sINFOobjective_server_nodeinstance_id: "" ×12 + 1.08sINFOobjective_server_node ×12 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598926 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598926 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493967 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493967 ms (missed cycles : 3).[0m ×2 + 7.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.589ms + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452397 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452397 ms (missed cycles : 3).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806017 ms (missed cycles : 4). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806017 ms (missed cycles : 4).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099601 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099601 ms (missed cycles : 3).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552120 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552120 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363424 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363424 ms (missed cycles : 2).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505464 ms (missed cycles : 6). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505464 ms (missed cycles : 6).[0m ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960354 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960354 ms (missed cycles : 2).[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873790 ms (missed cycles : 5). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873790 ms (missed cycles : 5).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433529 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433529 ms (missed cycles : 2).[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577314 ms (missed cycles : 3). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577314 ms (missed cycles : 3).[0m ×2 + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439711 ms (missed cycles : 2). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439711 ms (missed cycles : 2).[0m ×2 + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926193 ms (missed cycles : 5). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926193 ms (missed cycles : 5).[0m ×2 + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108211 ms (missed cycles : 2). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108211 ms (missed cycles : 2).[0m ×2 + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359865 ms (missed cycles : 3). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359865 ms (missed cycles : 3).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.014ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428911 ms (missed cycles : 3). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428911 ms (missed cycles : 3).[0m ×2 + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884460 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884460 ms (missed cycles : 2).[0m ×2 + 25.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497502 ms (missed cycles : 4). + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497502 ms (missed cycles : 4).[0m ×2 + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064363 ms (missed cycles : 3). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064363 ms (missed cycles : 3).[0m ×2 + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865024 ms (missed cycles : 2). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865024 ms (missed cycles : 2).[0m ×2 + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834743 ms (missed cycles : 3). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834743 ms (missed cycles : 3).[0m ×2 + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674207 ms (missed cycles : 2). + 30.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674207 ms (missed cycles : 2).[0m ×2 + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108267 ms (missed cycles : 4). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108267 ms (missed cycles : 4).[0m ×2 + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072807 ms (missed cycles : 2). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072807 ms (missed cycles : 2).[0m ×2 + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552875 ms (missed cycles : 2). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552875 ms (missed cycles : 2).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404964 ms (missed cycles : 3). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404964 ms (missed cycles : 3).[0m ×2 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719691 ms (missed cycles : 3). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719691 ms (missed cycles : 3).[0m ×2 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133819 ms (missed cycles : 5). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133819 ms (missed cycles : 5).[0m ×2 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974065 ms (missed cycles : 4). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974065 ms (missed cycles : 4).[0m ×2 + 37.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.503ms + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323333 ms (missed cycles : 3). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323333 ms (missed cycles : 3).[0m ×2 + 39.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239433 ms (missed cycles : 3). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239433 ms (missed cycles : 3).[0m ×2 + 40.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478225 ms (missed cycles : 3). + 40.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478225 ms (missed cycles : 3).[0m ×2 + 41.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887204 ms (missed cycles : 3). + 41.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887204 ms (missed cycles : 3).[0m ×2 + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670459 ms (missed cycles : 3). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670459 ms (missed cycles : 3).[0m ×2 + 43.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353950 ms (missed cycles : 3). + 43.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353950 ms (missed cycles : 3).[0m ×2 + 45.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240414 ms (missed cycles : 2). + 45.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240414 ms (missed cycles : 2).[0m ×2 + 46.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926430 ms (missed cycles : 2). + 46.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926430 ms (missed cycles : 2).[0m ×2 + 46.72sINFOjoint_trajectory_controllerGoal reached, success! + 46.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792304806.92022991 seconds ×3 + 46.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.77sINFOstate_estimatorReceived a set_pose request (stamp: 1792304806941778386, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927239 ms (missed cycles : 3). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927239 ms (missed cycles : 3).[0m ×2 + 47.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.535ms + 47.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.22sINFOamclInitializing particles from estimated pose and covariance + 47.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569632, y=-0.0171782, yaw=-0.0183983 + 47.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.29sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792304807.50944901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.35sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 47.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.279ms + 48.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981991 ms (missed cycles : 4). + 48.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981991 ms (missed cycles : 4).[0m ×2 + 48.53sINFOobjective_server_nodeFound path in 0 iterations (2.6569e-05 s). ×2 + 48.59sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007572 ms (missed cycles : 2). + 49.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007572 ms (missed cycles : 2).[0m ×2 + 49.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.150ms + 49.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.033ms + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2). + 50.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2).[0m ×2 + 50.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.867ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	118 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003117 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003117 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837400 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837400 ms (missed cycles : 2).[0m ×2 + 1.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.68sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.69sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.73sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792304877.09529209 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095619 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095619 ms (missed cycles : 3).[0m ×2 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720518 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720518 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792304878.69554639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619084 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619084 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692869 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692869 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471023 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471023 ms (missed cycles : 5).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122528 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122528 ms (missed cycles : 2).[0m ×2 + 8.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.272ms + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909734 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909734 ms (missed cycles : 3).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.512ms ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291440 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291440 ms (missed cycles : 3).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.437ms + 10.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.227ms + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931177 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931177 ms (missed cycles : 2).[0m ×2 + 11.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.043ms + 12.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.853ms + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160652 ms (missed cycles : 3). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160652 ms (missed cycles : 3).[0m ×2 + 12.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.180ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953279 ms (missed cycles : 3). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953279 ms (missed cycles : 3).[0m ×2 + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.298ms + 14.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.610ms + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485271 ms (missed cycles : 4). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485271 ms (missed cycles : 4).[0m ×2 + 14.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.624ms + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776962 ms (missed cycles : 3). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776962 ms (missed cycles : 3).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.638ms + 15.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.047ms + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724667 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724667 ms (missed cycles : 2).[0m ×2 + 16.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.288ms + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.345ms + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385494 ms (missed cycles : 4). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385494 ms (missed cycles : 4).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.524ms + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.391587 ms (missed cycles : 5). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.391587 ms (missed cycles : 5).[0m ×2 + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.906ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.500ms + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287502 ms (missed cycles : 2). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287502 ms (missed cycles : 2).[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.108ms + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.616ms + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440398 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440398 ms (missed cycles : 2).[0m ×2 + 21.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.009ms + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624202 ms (missed cycles : 5). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624202 ms (missed cycles : 5).[0m ×2 + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.711ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.550ms + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971081 ms (missed cycles : 3). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971081 ms (missed cycles : 3).[0m ×2 + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.091ms + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296332 ms (missed cycles : 2). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296332 ms (missed cycles : 2).[0m ×2 + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.389ms + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.786ms + 24.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926702 ms (missed cycles : 2). + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926702 ms (missed cycles : 2).[0m ×2 + 25.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.667ms + 25.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784658 ms (missed cycles : 2). + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784658 ms (missed cycles : 2).[0m ×2 + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.496ms + 26.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.692ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065283 ms (missed cycles : 2). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065283 ms (missed cycles : 2).[0m ×2 + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.022ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.768ms + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404565 ms (missed cycles : 3). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404565 ms (missed cycles : 3).[0m ×2 + 28.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.829ms + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692411 ms (missed cycles : 2). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692411 ms (missed cycles : 2).[0m ×2 + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.016ms + 29.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.793ms + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230503 ms (missed cycles : 3). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230503 ms (missed cycles : 3).[0m ×2 + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.981ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.703ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.039ms + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3).[0m ×2 + 32.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.010ms + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.029ms + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4).[0m ×2 + 34.48sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792304909.84567952 seconds ×3 + 34.52sINFOstate_estimatorReceived a set_pose request (stamp: 1792304909870006595, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.58sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 34.58sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 34.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2).[0m ×2 + 34.68sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.68sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.78sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.78sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 35.00sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.523ms + 35.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 35.00sINFOamclInitializing particles from estimated pose and covariance + 35.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 35.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 35.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792304910.44493055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.261ms + 35.49sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 35.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3). + 35.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3).[0m ×2 + 36.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2). + 36.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2).[0m ×2 + 37.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3). + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.5s	78 warnings · 260 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040574 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040574 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396556 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396556 ms (missed cycles : 3).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.485ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066592 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066592 ms (missed cycles : 2).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.39sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792305101.29480076 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.45sINFOstate_estimatorReceived a set_pose request (stamp: 1792305101313355869, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.85, -1.35) to (2.13, 3.63). The costmap cannot raytrace for it. ×2 + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.61) is out of map bounds (-2.85, -1.35) to (2.13, 3.63). The costmap cannot raytrace for it. ×2 + 2.67sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.67sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.75sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.913ms + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-0.68, 4.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-1.58, 4.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.96sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.96sINFOobjective_server_nodecaller: ×6 + 2.96sINFOobjective_server_nodetype: 0 ×6 + 2.96sINFOobjective_server_nodename: "" ×6 + 2.96sINFOobjective_server_nodeinstance_id: "" ×6 + 2.96sINFOobjective_server_node ×6 + 3.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792305101.90947580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 38.010ms + 3.09sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.09sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.10sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.10sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568652, y=-0.0171807, yaw=-0.0184012 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490442 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490442 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.720ms + 3.43sINFOobjective_server_nodeFound path in 0 iterations (5.64e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316005 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316005 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877187 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877187 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221820 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221820 ms (missed cycles : 4).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103910 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103910 ms (missed cycles : 3).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564325 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564325 ms (missed cycles : 3).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896733 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896733 ms (missed cycles : 2).[0m ×2 + 9.50sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.58sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.72sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 9.87sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.91sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 10.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.29sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.223764 ms (missed cycles : 5). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.223764 ms (missed cycles : 5).[0m ×2 + 10.73sINFOobjective_server_nodeFound path in 33 iterations (0.0361477 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.27sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249272 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249272 ms (missed cycles : 2).[0m ×2 + 11.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.03sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511703 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511703 ms (missed cycles : 2).[0m ×2 + 12.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.93sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112199 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112199 ms (missed cycles : 2).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814571 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814571 ms (missed cycles : 2).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.573ms + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.035ms + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117374 ms (missed cycles : 2). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117374 ms (missed cycles : 2).[0m ×2 + 16.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.389ms + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813419 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813419 ms (missed cycles : 2).[0m ×2 + 16.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.530ms + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.073ms + 17.82sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056569 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056569 ms (missed cycles : 2).[0m ×2 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553930 ms (missed cycles : 2). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553930 ms (missed cycles : 2).[0m ×2 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.277ms + 18.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792305117.81516051 seconds ×3 + 18.96sINFOstate_estimatorReceived a set_pose request (stamp: 1792305117833551877, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.47sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.56sINFOamclParticle filter update iteration stats: 1956 particles 811 points - 8.489ms + 19.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 19.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305118.45358992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.57sINFOmove_groupClearing octomap...[0m ×2 + 19.57sINFOmove_groupOctomap cleared.[0m ×2 + 19.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.668ms + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001731 ms (missed cycles : 4). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001731 ms (missed cycles : 4).[0m ×2 + 20.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305119.63371205 seconds ×3 + 21.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.29sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068175 ms (missed cycles : 5). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068175 ms (missed cycles : 5).[0m ×2 + 21.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305120.22259974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270614 ms (missed cycles : 2). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270614 ms (missed cycles : 2).[0m ×2 + 22.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792305121.19274282 seconds ×3 + 22.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.4s	123 errors · 30 warnings · 582 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.073ms + 0.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056569 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056569 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553930 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553930 ms (missed cycles : 2).[0m ×2 + 1.28sINFOjoint_trajectory_controllerGoal reached, success! + 1.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.277ms + 1.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792305117.81516051 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.34sINFOstate_estimatorReceived a set_pose request (stamp: 1792305117833551877, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.85sINFOobjective_server_nodecaller: ×4 + 1.85sINFOobjective_server_nodetype: 0 ×4 + 1.85sINFOobjective_server_nodename: "" ×4 + 1.85sINFOobjective_server_nodeinstance_id: "" ×4 + 1.85sINFOobjective_server_node ×4 + 1.93sINFOamclParticle filter update iteration stats: 1956 particles 811 points - 8.489ms + 1.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 1.94sINFOamclInitializing particles from estimated pose and covariance + 1.94sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 1.94sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 1.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305118.45358992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.95sINFOmove_groupClearing octomap...[0m ×2 + 1.95sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.96sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.668ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001731 ms (missed cycles : 4). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001731 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305119.63371205 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068175 ms (missed cycles : 5). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068175 ms (missed cycles : 5).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305120.22259974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270614 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270614 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792305121.19274282 seconds ×3 + 4.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436315 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436315 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744825 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744825 ms (missed cycles : 3).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733692 ms (missed cycles : 5). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733692 ms (missed cycles : 5).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439917 ms (missed cycles : 3). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439917 ms (missed cycles : 3).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066977 ms (missed cycles : 5). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066977 ms (missed cycles : 5).[0m ×2 + 10.25sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.27sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORweb_video_auth_proxy-41process has died [pid 8274, 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 + 10.27sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.28sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORweb_bridge_auth_proxy-40process has died [pid 8270, 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 + 10.28sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.32sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.33sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.34sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.36sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.37sINFOvideo_server-39process has finished cleanly [pid 8269] ×2 + 10.37sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.38sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.39sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.39sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.40sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.41sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.43sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.44sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.46sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.47sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.48sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.50sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.50sINFOcontroller_managerShutdown request received.... + 10.50sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.50sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.50sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.50sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.50sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.51sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.51sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.51sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.51sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.51sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.51sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.51sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.51sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.51sINFOcontroller_managerShutting down the controller manager. + 10.51sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.52sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.53sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.54sERRORmove_group-25process has died [pid 8252, 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_3ltyxo01 --params-file /tmp/launch_params_5zbi67_4 --params-file /tmp/launch_params__r2vuce5 --params-file /tmp/launch_params_ag5ke5c5 --params-file /tmp/launch_params_wod2bpfy --params-file /tmp/launch_params_69wlrr5l']. ×2 + 10.55sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.56sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.57sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.58sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.59sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.60sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.61sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.62sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.62sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.62sINFOmap_serverDeactivating + 10.62sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.63sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.63sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.63sINFOcontroller_serverDeactivating + 10.63sINFOlocal_costmap.local_costmapDeactivating + 10.63sINFOvideo_server2026/10/18 06:32:06 INF shutting down gracefully ×2 + 10.63sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.63sINFOvideo_server2026/10/18 06:32:06 INF [WebRTC] closing ×2 + 10.63sINFOvideo_server2026/10/18 06:32:06 INF [RTSP] closing ×2 + 10.63sINFOvideo_server2026/10/18 06:32:06 INF waiting for running hooks ×2 + 10.63sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.63sINFOmap_serverCleaning up + 10.63sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.63sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.63sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.63sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.63sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.64sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.64sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.64sERRORmove_groupStack trace (most recent call last) in thread 8921: ×2 + 10.64sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.64sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcef1cafcc3, in __clone ×2 + 10.64sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcef1c22b83, in ×2 + 10.64sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcef1eb3db3, in ×2 + 10.64sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fcef261de94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.64sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcef2247620, in rclcpp::Rate::sleep() ×2 + 10.64sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcef2189d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.64sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcef214b087, in ×2 + 10.64sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcef1e82390, in __cxa_throw ×2 + 10.64sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcef1e6ca54, in std::terminate() ×2 + 10.64sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcef1e820d9, in ×2 + 10.64sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.64sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.64sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcef1e6cff4, in ×2 + 10.64sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcef1bae8fe, in abort ×2 + 10.64sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcef1bcb27d, in raise ×2 + 10.64sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.64sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcef1c24c0c, in pthread_kill ×2 + 10.64sERRORmove_groupAborted (Signal sent by tkill() 8252 0) ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.64sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.64sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.64sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.64sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.64sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.64sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.64sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.64sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.64sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.65sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sERRORamclThe bond connection to the lifecycle manager has been broken + 10.65sINFOcontroller_serverCleaning up + 10.65sINFOlocal_costmap.local_costmapCleaning up + 10.70sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.70sINFOsmoother_serverDeactivating + 10.70sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.71sINFOsmoother_serverCleaning up + 10.71sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.71sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.72sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 10.72sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.72sINFOplanner_serverDeactivating + 10.72sINFOglobal_costmap.global_costmapDeactivating + 10.73sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.73sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.73sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.73sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.73sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.73sINFOvelocity_smootherDeactivating + 10.73sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.86sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.86sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.87sINFOplanner_serverCleaning up + 10.89sINFOglobal_costmap.global_costmapCleaning up + 10.90sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.90sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.93sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.93sINFObehavior_serverDeactivating + 10.93sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.94sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.94sINFOwaypoint_followerDeactivating + 10.94sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.94sINFObehavior_serverCleaning up + 10.95sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.95sINFObt_navigatorDeactivating + 10.95sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.96sINFObt_navigatorCleaning up + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.13sERRORbt_navigatorUnable to start transition 4 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.13sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.13sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.13sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.13sINFObt_navigatorCompleted Cleaning up + 11.13sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.13sINFOwaypoint_followerCleaning up + 11.14sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.14sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.14sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.14sINFOvelocity_smootherCleaning up + 11.14sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.15sERRORwaypoint_followerUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.15sERRORlifecycle_manager_navigationFailed to change state for node: waypoint_follower + 11.15sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.15sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.15sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.15sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.15sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.15sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.15sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.15sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.15sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.15sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.15sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.15sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.15sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.39sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.39sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.39sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.39sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.39sINFOjoint_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 + 11.39sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.39sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.39sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.39sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.39sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.39sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.39sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.39sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.39sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.39sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.39sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.39sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.39sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.39sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.39sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.39sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.40sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.40sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOtf_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 + 11.40sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.40sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.40sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.40sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.40sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.40sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.40sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.40sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.40sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8268] ×2 + 11.40sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.40sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.40sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.40sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.40sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.47sERRORjoint_state_visualization_relay-37process has died [pid 8267, 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_xp14jq4_']. ×2 + 11.47sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.48sERRORtf_visualization_relay-36process has died [pid 8264, 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_hosfsdjj']. ×2 + 11.48sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.48sERRORcomponent_container_isolated-1process has died [pid 8081, 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_k7engry5 --params-file /tmp/launch_params_pcsjc946 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.49sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8256] ×2 + 11.51sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8255] ×2 + 11.51sINFOui_teleop_bridge-34process has finished cleanly [pid 8262] ×2 + 11.52sINFOexecute_objective_bridge-33process has finished cleanly [pid 8260] ×2 + 11.55sINFOparameter_manager_node-26process has finished cleanly [pid 8253] ×2 + 11.57sINFOwaypoint_manager_node-27process has finished cleanly [pid 8254] ×2 + 11.57sINFOrelay-11process has finished cleanly [pid 8194] ×2 + 11.59sINFOrelay-10process has finished cleanly [pid 8193] ×2 + 11.61sINFOcomponent_container_mt-32process has finished cleanly [pid 8259] ×2 + 11.61sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8195] ×2 + 11.61sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8089] ×2 + 11.61sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8088] ×2 + 11.62sINFOobjective_server_node[2026-10-18 06:32:08.123] [moveit_pro_license] [critical] ×2 + 11.62sINFOobjective_server_node************************************************* ×4 + 11.62sINFOobjective_server_node* MoveIt Pro License ×2 + 11.62sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.62sINFOstatic_transform_publisher-7process has finished cleanly [pid 8087] ×2 + 11.63sINFOstatic_transform_publisher-6process has finished cleanly [pid 8086] ×2 + 11.64sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.64sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.64sINFOlidar_flattener.pymain() ×2 + 11.64sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.64sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.64sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.64sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.64sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.64sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.64sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.64sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.64sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.64sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.64sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.66sINFOstatic_transform_publisher-3process has finished cleanly [pid 8083] ×2 + 11.68sERRORlidar_flattener.py-5process has died [pid 8085, 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_kg1hgl4g']. ×2 + 11.82sINFOobjective_server_node_main-30process has finished cleanly [pid 8257] ×2 + 11.82sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.64sINFOcomponent_container_mt-31process has finished cleanly [pid 8258] ×2 + 12.65sINFOodom_world_drift-4process has finished cleanly [pid 8084] ×2 + 12.93sERRORcomponent_container_isolated-2process has died [pid 8082, 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_k7engry5 --params-file /tmp/launch_params_56fq5ybw -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.25sINFOros2_control_node-13process has finished cleanly [pid 8196] ×2 + 13.50sINFOweb_bridge-35process has finished cleanly [pid 8263] ×2 + 13.50sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 69 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555455 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555455 ms (missed cycles : 4).[0m ×2 + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.247ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345283 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345283 ms (missed cycles : 3).[0m ×2 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.611ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412596 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412596 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792304960.28507590 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOstate_estimatorReceived a set_pose request (stamp: 1792304960300039368, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 11.73) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.92, 12.24) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989572 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989572 ms (missed cycles : 3).[0m ×2 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.17, 11.71) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 12.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.113ms + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.49sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569019, y=-0.0171798, yaw=-0.0184 + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792304960.88614488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.811ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406553 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406553 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686093 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686093 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.22sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.22sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013325 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013325 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450303 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450303 ms (missed cycles : 3).[0m ×2 + 8.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.329ms + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556283 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556283 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.594ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669938 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669938 ms (missed cycles : 2).[0m ×2 + 9.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.683ms + 10.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.848ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349874 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349874 ms (missed cycles : 3).[0m ×2 + 10.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.625ms + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.565ms + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799149 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799149 ms (missed cycles : 2).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.013ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087754 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087754 ms (missed cycles : 3).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.590ms + 13.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.570ms + 13.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.55sINFOjoint_trajectory_controllerGot request to cancel goal + 13.55sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.55sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.55sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.57sERRORobjective_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: 1792304970.95016694 seconds ×3 + 13.60sINFOstate_estimatorReceived a set_pose request (stamp: 1792304970968451242, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067584 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067584 ms (missed cycles : 3).[0m ×2 + 13.77sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.77sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.87sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.87sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.09sINFOamclParticle filter update iteration stats: 4828 particles 811 points - 10.171ms + 14.09sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 14.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.18sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792304971.55406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.404ms + 14.59sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408959 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408959 ms (missed cycles : 3).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737942 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737942 ms (missed cycles : 2).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889305 ms (missed cycles : 4). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889305 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	49 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 2.52sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.52sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792304870.64639783 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.58sINFOstate_estimatorReceived a set_pose request (stamp: 1792304870671977543, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.055ms + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.08sINFOamclInitializing particles from estimated pose and covariance + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.10sINFOobjective_server_nodecaller: ×4 + 3.10sINFOobjective_server_nodetype: 0 ×4 + 3.10sINFOobjective_server_nodename: "" ×4 + 3.10sINFOobjective_server_nodeinstance_id: "" ×4 + 3.10sINFOobjective_server_node ×4 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792304871.25504851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.426ms + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003117 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003117 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837400 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837400 ms (missed cycles : 2).[0m ×2 + 8.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.99sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792304877.09529209 seconds ×3 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095619 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095619 ms (missed cycles : 3).[0m ×2 + 10.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.54sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720518 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720518 ms (missed cycles : 2).[0m ×2 + 10.59sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792304878.69554639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.06sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619084 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619084 ms (missed cycles : 2).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692869 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692869 ms (missed cycles : 3).[0m ×2 + 13.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	51 warnings · 148 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719435 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719435 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.524ms + 0.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.637ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.511ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936364 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936364 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.669ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.918ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667875 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667875 ms (missed cycles : 3).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.710ms + 2.87sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.87sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.90sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792305037.17425466 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1792305037191258267, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.58) is out of map bounds (-4.30, 5.00) to (0.68, 9.98). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.41) is out of map bounds (-4.30, 5.00) to (0.68, 9.98). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.41) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052001 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052001 ms (missed cycles : 2).[0m ×2 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.823ms + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.49sINFOamclInitializing particles from estimated pose and covariance + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 3.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792305037.77081084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.188ms + 4.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620088 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620088 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783556 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783556 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 9.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 9.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.96sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.56sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 12.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	39 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353950 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240414 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240414 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926430 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926430 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.74sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792304806.92022991 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOstate_estimatorReceived a set_pose request (stamp: 1792304806941778386, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927239 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927239 ms (missed cycles : 3).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.535ms + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.23sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569632, y=-0.0171782, yaw=-0.0183983 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.30sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.30sINFOobjective_server_nodecaller: ×4 + 3.30sINFOobjective_server_nodetype: 0 ×4 + 3.30sINFOobjective_server_nodename: "" ×4 + 3.30sINFOobjective_server_nodeinstance_id: "" ×4 + 3.30sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792304807.50944901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.279ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981991 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981991 ms (missed cycles : 4).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.6569e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007572 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007572 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.150ms + 5.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.033ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2).[0m ×2 + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.867ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.174ms + 6.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.074ms + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772746 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772746 ms (missed cycles : 3).[0m ×2 + 7.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.454ms + 7.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.232ms + 7.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.376ms + 8.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.332ms + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037343 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037343 ms (missed cycles : 4).[0m ×2 + 8.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.327ms + 8.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.429ms + 8.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792304813.14957070 seconds ×3 + 9.02sINFOstate_estimatorReceived a set_pose request (stamp: 1792304813167200341, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729503 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729503 ms (missed cycles : 2).[0m ×2 + 9.34sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 5.469ms + 9.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.54sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792304813.75625539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750601 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750601 ms (missed cycles : 2).[0m ×2 + 11.15sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 11.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.558ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877056 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877056 ms (missed cycles : 2).[0m ×2 + 12.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.8s	27 warnings · 130 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.035ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117374 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117374 ms (missed cycles : 2).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.389ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813419 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.530ms + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.073ms + 2.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056569 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056569 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553930 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553930 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.277ms + 3.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792305117.81516051 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOstate_estimatorReceived a set_pose request (stamp: 1792305117833551877, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.88sINFOamclParticle filter update iteration stats: 1956 particles 811 points - 8.489ms + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.88sINFOamclInitializing particles from estimated pose and covariance + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 3.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305118.45358992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.89sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.668ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001731 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001731 ms (missed cycles : 4).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305119.63371205 seconds ×3 + 5.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.62sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068175 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068175 ms (missed cycles : 5).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305120.22259974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270614 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270614 ms (missed cycles : 2).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792305121.19274282 seconds ×3 + 6.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436315 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436315 ms (missed cycles : 3).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744825 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744825 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_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 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 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 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 344 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.08sINFOobjective_server_nodecaller: ×10 + 1.08sINFOobjective_server_nodetype: 0 ×10 + 1.08sINFOobjective_server_nodename: "" ×10 + 1.08sINFOobjective_server_nodeinstance_id: "" ×10 + 1.08sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 1.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.13sINFOjoint_trajectory_controllerReceived new action goal + 5.13sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598926 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598926 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	24 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353950 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240414 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240414 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926430 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926430 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792304806.92022991 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOstate_estimatorReceived a set_pose request (stamp: 1792304806941778386, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927239 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927239 ms (missed cycles : 3).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.535ms + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.23sINFOamclInitializing particles from estimated pose and covariance + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569632, y=-0.0171782, yaw=-0.0183983 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792304807.50944901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.279ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981991 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981991 ms (missed cycles : 4).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.6569e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007572 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007572 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.150ms + 5.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.033ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2).[0m ×2 + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.867ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	24 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353950 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240414 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240414 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926430 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926430 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792304806.92022991 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOstate_estimatorReceived a set_pose request (stamp: 1792304806941778386, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927239 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927239 ms (missed cycles : 3).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.535ms + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.23sINFOamclInitializing particles from estimated pose and covariance + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569632, y=-0.0171782, yaw=-0.0183983 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.30sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792304807.50944901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.279ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981991 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981991 ms (missed cycles : 4).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.6569e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007572 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007572 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.150ms + 5.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.033ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2).[0m ×2 + 6.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.867ms
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_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 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 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 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 89 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.033ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959558 ms (missed cycles : 2).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.867ms + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.174ms + 0.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.074ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772746 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772746 ms (missed cycles : 3).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.454ms + 1.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.232ms + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.376ms + 2.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.332ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037343 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037343 ms (missed cycles : 4).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.327ms + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.429ms + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792304813.14957070 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOstate_estimatorReceived a set_pose request (stamp: 1792304813167200341, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729503 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729503 ms (missed cycles : 2).[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 5.469ms + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792304813.75625539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750601 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750601 ms (missed cycles : 2).[0m ×2 + 5.29sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.29sINFOamclInitializing particles from estimated pose and covariance + 5.29sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.558ms + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877056 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877056 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal + 6.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.35sINFOjoint_trajectory_controllerAccepted new action goal + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792304870.64639783 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOstate_estimatorReceived a set_pose request (stamp: 1792304870671977543, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.055ms + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.08sINFOamclInitializing particles from estimated pose and covariance + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792304871.25504851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.426ms + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.94sINFOjoint_trajectory_controllerReceived new action goal + 3.94sINFOjoint_trajectory_controllerAccepted new action goal + 3.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792304870.64639783 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOstate_estimatorReceived a set_pose request (stamp: 1792304870671977543, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.055ms + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.08sINFOamclInitializing particles from estimated pose and covariance + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792304871.25504851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.426ms + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.94sINFOjoint_trajectory_controllerReceived new action goal + 3.94sINFOjoint_trajectory_controllerAccepted new action goal + 3.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792304870.64639783 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOstate_estimatorReceived a set_pose request (stamp: 1792304870671977543, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.055ms + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.08sINFOamclInitializing particles from estimated pose and covariance + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792304871.25504851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.426ms + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.94sINFOjoint_trajectory_controllerReceived new action goal + 3.94sINFOjoint_trajectory_controllerAccepted new action goal + 3.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792304870.64639783 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOstate_estimatorReceived a set_pose request (stamp: 1792304870671977543, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.055ms + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.08sINFOamclInitializing particles from estimated pose and covariance + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792304871.25504851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.426ms + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.94sINFOjoint_trajectory_controllerReceived new action goal + 3.94sINFOjoint_trajectory_controllerAccepted new action goal + 3.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792304870.64639783 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOstate_estimatorReceived a set_pose request (stamp: 1792304870671977543, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.055ms + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.08sINFOamclInitializing particles from estimated pose and covariance + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792304871.25504851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.426ms + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.94sINFOjoint_trajectory_controllerReceived new action goal + 3.94sINFOjoint_trajectory_controllerAccepted new action goal + 3.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792304870.64639783 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOstate_estimatorReceived a set_pose request (stamp: 1792304870671977543, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.055ms + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.08sINFOamclInitializing particles from estimated pose and covariance + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792304871.25504851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.426ms + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.94sINFOjoint_trajectory_controllerReceived new action goal + 3.94sINFOjoint_trajectory_controllerAccepted new action goal + 3.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	31 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724497 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.864458 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202411 ms (missed cycles : 3).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792304870.64639783 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOstate_estimatorReceived a set_pose request (stamp: 1792304870671977543, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.65sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.50, 1.25) to (1.48, 6.23). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389788 ms (missed cycles : 2).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.055ms + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.08sINFOamclInitializing particles from estimated pose and covariance + 3.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569346, y=-0.0171789, yaw=-0.0183991 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792304871.25504851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.426ms + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.94sINFOjoint_trajectory_controllerReceived new action goal + 3.94sINFOjoint_trajectory_controllerAccepted new action goal + 3.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055729 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324971 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.688241 ms (missed cycles : 5).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	31 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.703ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.039ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.010ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.029ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792304909.84567952 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOstate_estimatorReceived a set_pose request (stamp: 1792304909870006595, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2).[0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.523ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.68sINFOamclInitializing particles from estimated pose and covariance + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792304910.44493055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.261ms + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3).[0m ×2
− skipped	Navigate Hangar Loop	navigate_hangar_loop.xml	0.0s	31 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.703ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.039ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.010ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.029ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792304909.84567952 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOstate_estimatorReceived a set_pose request (stamp: 1792304909870006595, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2).[0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.523ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.68sINFOamclInitializing particles from estimated pose and covariance + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792304910.44493055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.261ms + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	31 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.703ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.039ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.010ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.029ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792304909.84567952 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOstate_estimatorReceived a set_pose request (stamp: 1792304909870006595, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2).[0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.523ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.68sINFOamclInitializing particles from estimated pose and covariance + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792304910.44493055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.261ms + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	31 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189508 ms (missed cycles : 3).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.703ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.039ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734521 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.010ms + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.029ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425465 ms (missed cycles : 4).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792304909.84567952 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOstate_estimatorReceived a set_pose request (stamp: 1792304909870006595, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-5.85, 8.10) to (-0.87, 13.08). The costmap cannot raytrace for it. + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957853 ms (missed cycles : 2).[0m ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.523ms + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.68sINFOamclInitializing particles from estimated pose and covariance + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792304910.44493055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.261ms + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855816 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929956 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538104 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_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 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 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 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_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 2.376095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_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 2.376095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[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 2.376095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_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 2.376095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_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 2.376095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_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 2.376095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_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 2.376095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376095 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787641 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550971 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792305043.68095875 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816558 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792305044.29452276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399229 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664598 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304816 ms (missed cycles : 2).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 130 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.035ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117374 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117374 ms (missed cycles : 2).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.389ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813419 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813419 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.530ms + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.073ms + 2.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056569 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056569 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553930 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553930 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.277ms + 3.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792305117.81516051 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOstate_estimatorReceived a set_pose request (stamp: 1792305117833551877, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.88sINFOamclParticle filter update iteration stats: 1956 particles 811 points - 8.489ms + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.88sINFOamclInitializing particles from estimated pose and covariance + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 3.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305118.45358992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.89sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.668ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001731 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001731 ms (missed cycles : 4).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305119.63371205 seconds ×3 + 5.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.62sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068175 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068175 ms (missed cycles : 5).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305120.22259974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270614 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270614 ms (missed cycles : 2).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792305121.19274282 seconds ×3 + 6.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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	—	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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[0m ×2
− 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[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 3.867002 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_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 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 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 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.92sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_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 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 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 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	addtovector.xml	0.0s	18 warnings · 335 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_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 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 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
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_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 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 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 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	21 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_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 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 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 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 338 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867002 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792304761.31412387 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 4.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_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 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 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 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	18 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[0m ×2

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

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598926 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598926 ms (missed cycles : 2).[0m ×2

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

9 skip

− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 344 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 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 3.294772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294772 ms (missed cycles : 2).[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750197 ms (missed cycles : 5).[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 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792304761.30261803 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: 1792304761.31412387 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659999 ms (missed cycles : 3).[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: 1792304761.90250683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792304761.92262220 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792304762.51124740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709468 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792304762.66182971 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792304763.27009559 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 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792304763.33026648 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385996 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792304763.91373253 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990641 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.90sINFOjoint_trajectory_controllerReceived new action goal + 5.90sINFOjoint_trajectory_controllerAccepted new action goal + 5.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893276 ms (missed cycles : 2).[0m ×2