86
Total objective tests
19
Objectives passed
0
Objectives failed
67
Objectives skipped
20.6s
Avg test time
100%
Objective pass rate
▾
(no parent)2 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 21.4s | 12 errors · 314 warnings · 1586 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-10-11-06-33-27-507627-5d143faa9468-8003 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.63sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.65sINFOstatic_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' + 4.67sINFOstatic_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' + 4.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.68sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.69sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.72sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.72sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.72sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.72sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.74sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.74sINFOcontroller_serverCreating controller server + 4.74sINFOmap_serverCreating + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.75sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.77sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.77sINFOlocal_costmap.local_costmapCreating Costmap + 4.78sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.78sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.81sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.81sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.84sINFOlifecycle_manager_localizationCreating + 4.85sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.86sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.86sINFOsmoother_serverCreating smoother server + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.87sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.87sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.87sINFOmap_serverConfiguring + 4.90sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.91sINFOplanner_serverCreating + 4.94sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.94sINFOros2_control_node-13process started with pid [8168] ×2 + 4.94sINFOmove_group-25process started with pid [8233] ×2 + 4.94sINFOparameter_manager_node-26process started with pid [8236] ×2 + 4.94sINFOwaypoint_manager_node-27process started with pid [8237] ×2 + 4.94sINFOmove_joint_resampler_node-28process started with pid [8239] ×2 + 4.94sINFOmove_end_effector_resampler_node-29process started with pid [8242] ×2 + 4.94sINFOobjective_server_node_main-30process started with pid [8243] ×2 + 4.94sINFOcomponent_container_mt-31process started with pid [8244] ×2 + 4.94sINFOcomponent_container_mt-32process started with pid [8245] ×2 + 4.94sINFOexecute_objective_bridge-33process started with pid [8246] ×2 + 4.94sINFOui_teleop_bridge-34process started with pid [8247] ×2 + 4.94sINFOweb_bridge-35process started with pid [8248] ×2 + 4.94sINFOtf_visualization_relay-36process started with pid [8252] ×2 + 4.94sINFOjoint_state_visualization_relay-37process started with pid [8253] ×2 + 4.94sINFOtf2_web_republisher_node-38process started with pid [8254] ×2 + 4.94sINFOvideo_server-39process started with pid [8255] ×2 + 4.94sINFOweb_bridge_auth_proxy-40process started with pid [8260] ×2 + 4.94sINFOweb_video_auth_proxy-41process started with pid [8261] ×2 + 4.94sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.95sINFOglobal_costmap.global_costmapCreating Costmap + 4.95sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.95sINFOamclConfiguring + 4.95sINFOstate_estimatorReceived a set_pose request (stamp: 1791700414198330357, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.96sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.96sINFOmap_serverActivating + 4.97sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.98sINFOcomponent_container_isolated-1process started with pid [8053] ×2 + 4.98sINFOcomponent_container_isolated-2process started with pid [8054] ×2 + 4.98sINFOstatic_transform_publisher-3process started with pid [8055] ×2 + 4.98sINFOodom_world_drift-4process started with pid [8056] ×2 + 4.98sINFOlidar_flattener.py-5process started with pid [8057] ×2 + 4.98sINFOstatic_transform_publisher-6process started with pid [8058] ×2 + 4.98sINFOstatic_transform_publisher-7process started with pid [8059] ×2 + 4.98sINFOscan_to_scan_filter_chain-8process started with pid [8060] ×2 + 4.98sINFOscan_to_scan_filter_chain-9process started with pid [8061] ×2 + 4.98sINFOrelay-10process started with pid [8165] ×2 + 4.98sINFOrelay-11process started with pid [8166] ×2 + 4.98sINFOfixed_lag_smoother_node-12process started with pid [8167] ×2 + 4.98sINFOros2-14process started with pid [8169] ×2 + 4.98sINFOros2-15process started with pid [8170] ×2 + 4.98sINFOros2-16process started with pid [8171] ×2 + 4.98sINFOros2-17process started with pid [8172] ×2 + 4.98sINFOros2-18process started with pid [8173] ×2 + 4.98sINFOros2-19process started with pid [8174] ×2 + 4.98sINFOros2-20process started with pid [8175] ×2 + 4.98sINFOros2-21process started with pid [8176] ×2 + 4.98sINFOros2-22process started with pid [8177] ×2 + 4.98sINFOros2-23process started with pid [8184] ×2 + 4.98sINFOros2-24process started with pid [8201] ×2 + 4.98sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.00sINFOcontroller_managerupdate rate is 600 Hz + 5.00sINFOcontroller_managerOverruns handling is : enabled + 5.00sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.00sWARNcontroller_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. + 5.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.03sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.03sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.03sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.03sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.03sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.03sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.03sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.03sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.03sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.03sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.03sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.04sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.04sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.04sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.04sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.04sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.04sWARNros2_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 + 5.04sINFObehavior_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. + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589658 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589658 ms (missed cycles : 3).[0m ×2 + 5.07sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.07sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.08sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.08sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.08sINFOamclActivating + 5.08sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.08sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.10sINFOamclSubscribed to map_topic: /map + 5.11sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.12sINFOamclCreated reinitialize_global_localization service + 5.12sINFOamclCreated request_nomotion_update service + 5.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.12sINFOamclA new map was received + 5.12sINFOamclInitializing particle filter instance + 5.15sINFObt_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. + 5.18sINFObt_navigatorCreating + 5.18sINFOrobot_state_publisherRobot initialized + 5.18sINFOcontroller_managerReceived robot description from topic. + 5.18sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.20sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.20sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.20sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.23sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.23sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.25sINFOwaypoint_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. + 5.26sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.26sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.26sINFOwaypoint_followerCreating + 5.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.31sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.32sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.32sINFOvelocity_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. + 5.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.37sINFOlifecycle_manager_navigationCreating + 5.38sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.38sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.40sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.43sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.43sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.43sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.43sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.43sINFOcontroller_serverConfiguring controller interface + 5.43sINFOcontroller_servergetting progress checker plugins.. + 5.43sINFOcontroller_servergetting goal checker plugins.. + 5.43sINFOcontroller_serverController frequency set to 20.0000Hz + 5.43sINFOlocal_costmap.local_costmapConfiguring + 5.44sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.44sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.45sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.48sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.53sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.53sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.53sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.59sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.60sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.60sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.61sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.64sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.65sINFOvideo_server2026/10/11 06:33:34 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.65sINFOvideo_server2026/10/11 06:33:34 INF configuration loaded from /tmp/moveit-webrtc-ev5s8xwn/mediamtx.yml ×2 + 5.65sINFOvideo_server2026/10/11 06:33:34 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.65sWARNlaser_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. + 5.66sINFOvideo_server2026/10/11 06:33:34 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.66sWARNscan_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 + 5.66sWARNlaser_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. + 5.67sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.68sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.69sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.69sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.70sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.71sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.71sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.72sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.72sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.74sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.74sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.74sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.75sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.75sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.76sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.76sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.76sINFOcontroller_serverOptimizer reset ×2 + 5.77sINFOcontroller_serverController Server has FollowPath controllers available. + 5.80sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.80sINFOsmoother_serverConfiguring smoother server + 5.81sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.82sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.84sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.84sINFOplanner_serverConfiguring + 5.84sINFOglobal_costmap.global_costmapConfiguring + 5.86sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.86sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.87sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.87sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.87sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.91sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.91sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.92sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.97sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.97sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.98sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.551345 seconds + 5.98sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.98sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.98sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.98sINFOmove_groupLoaded robot model in 0.551345 seconds[0m ×2 + 5.98sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.98sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.98sINFOplanner_serverPlanner Server has GridBased planners available. + 5.99sINFOamclParticle filter initialization completed + 5.99sINFOamclInitializing particles from estimated pose and covariance + 5.99sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.04sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.04sINFObehavior_serverConfiguring + 6.05sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.07sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.08sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.08sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.09sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.09sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.09sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.10sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131479 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131479 ms (missed cycles : 4).[0m ×2 + 6.12sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.13sINFObehavior_serverConfiguring spin + 6.16sINFObehavior_serverConfiguring backup + 6.18sINFObehavior_serverConfiguring drive_on_heading + 6.21sINFObehavior_serverConfiguring assisted_teleop + 6.23sINFObehavior_serverConfiguring wait + 6.25sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.25sINFObt_navigatorConfiguring + 6.27sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.28sINFOweb_video_auth_proxy2026-10-11 06:33:35,524 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.29sWARNbt_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 + 6.29sINFOweb_video_auth_proxy2026-10-11 06:33:35,532 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.29sINFOweb_bridge_auth_proxy2026-10-11 06:33:35,537 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.34sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.49sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.54sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.54sINFOwaypoint_followerConfiguring + 6.58sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.58sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.58sINFOvelocity_smootherConfiguring velocity smoother + 6.59sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.59sINFOcontroller_serverActivating + 6.59sINFOlocal_costmap.local_costmapActivating + 6.59sINFOlocal_costmap.local_costmapChecking transform + 6.59sINFOlocal_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 ×5 + 6.69sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.69sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.69sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.70sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.70sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.70sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.70sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.70sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.93sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.93sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.93sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.96sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.96sINFOros2_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 + 6.98sINFOwaypoint_manager_nodeLoaded robot model in 0.322965 seconds[0m ×2 + 6.98sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.98sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.00sINFOmove_group[2026-10-11 06:33:36.249] [moveit_pro_license] [info] ×2 + 7.00sINFOmove_group************************************************* ×4 + 7.01sINFOmove_group* MoveIt Pro License ×2 + 7.01sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796970 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796970 ms (missed cycles : 2).[0m ×2 + 7.47sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.47sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.47sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.47sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.48sWARNwaypoint_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. + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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. + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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. + 7.48sWARNwaypoint_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. + 7.48sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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 + 7.48sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.48sWARNwaypoint_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. + 7.48sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.48sWARNwaypoint_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. + 7.48sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.48sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.48sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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. + 7.48sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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. + 7.48sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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. + 7.48sWARNwaypoint_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. + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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. + 7.48sWARNwaypoint_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. + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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. + 7.48sWARNwaypoint_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. + 7.48sWARNwaypoint_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 + 7.48sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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. + 7.48sWARNwaypoint_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 + 7.48sWARNwaypoint_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. + 7.49sWARNwaypoint_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. + 7.49sWARNwaypoint_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. + 7.49sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.49sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.49sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.49sWARNwaypoint_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 + 7.49sWARNwaypoint_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 + 7.49sWARNwaypoint_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. + 7.49sWARNwaypoint_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 + 7.49sWARNwaypoint_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. + 7.49sWARNwaypoint_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 + 7.49sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.49sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.49sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.49sWARNwaypoint_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. + 7.49sWARNwaypoint_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 + 7.49sWARNwaypoint_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. + 7.49sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.49sWARNwaypoint_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 + 7.49sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.49sWARNwaypoint_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. + 7.49sWARNwaypoint_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 + 7.49sWARNwaypoint_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. + 7.49sWARNwaypoint_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 + 7.49sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.49sWARNwaypoint_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 + 7.49sWARNwaypoint_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. + 7.49sWARNwaypoint_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 + 7.49sWARNwaypoint_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. + 7.49sWARNwaypoint_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 + 7.49sWARNwaypoint_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 + 7.49sWARNwaypoint_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. + 7.49sWARNwaypoint_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 + 7.49sWARNwaypoint_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. + 7.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.75sINFOwaypoint_manager_node[2026-10-11 06:33:36.995] [moveit_pro_license] [info] ×2 + 7.75sINFOwaypoint_manager_node************************************************* ×4 + 7.75sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.75sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.82sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.82sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.83sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter. Its parent TF edge is published by robot_state_publisher or another node, not this interface.[0m ×2 + 7.83sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.83sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.83sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.83sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.83sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.83sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.83sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.83sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.83sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.83sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.83sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.83sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.83sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.83sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.83sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.83sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.83sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.83sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.83sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.83sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.83sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.83sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.83sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.83sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.83sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.83sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.83sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.83sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.83sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.83sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.83sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.83sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.83sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.83sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.88sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 7.88sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 7.89sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.89sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.96sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.96sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.96sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.96sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.96sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 7.96sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.96sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 7.96sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 7.96sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.97sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 7.97sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.97sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 7.97sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.97sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.98sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.05sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.05sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.09sINFOros2_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 + 8.09sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.09sWARNros2_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 + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.09sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.14sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.14sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.15sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.16sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 8.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 8.31sINFOros2-20process has finished cleanly [pid 8175] ×2 + 8.32sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.32sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.32sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.32sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.32sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.32sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.32sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.33sINFOobjective_server_node[2026-10-11 06:33:37.577] [moveit_pro_license] [info] ×2 + 8.33sINFOobjective_server_node************************************************* ×4 + 8.33sINFOobjective_server_node* MoveIt Pro License ×2 + 8.33sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.34sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.34sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.35sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.35sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911286 ms (missed cycles : 2). + 8.35sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911286 ms (missed cycles : 2).[0m ×2 + 8.35sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.36sINFOcontroller_managerSuccessfully switched controllers! ×22 + 8.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 8.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.39sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.39sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.39sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.39sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.40sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.40sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.40sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.40sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.40sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.40sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.40sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.40sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.40sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.41sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.41sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.41sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.41sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.41sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.41sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.41sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.44sINFOobjective_server_nodeLoaded robot model in 0.0252015 seconds[0m ×2 + 8.44sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.44sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.61sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.61sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.61sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.64sINFOstreaming_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) + 8.64sINFOcomponent_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 + 8.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.65sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.67sINFOcomponent_container_mtLoaded robot model in 0.335116 seconds[0m ×2 + 8.67sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.67sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.72sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.72sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 8.72sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.72sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 8.73sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 8.74sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 8.79sINFOros2-16process has finished cleanly [pid 8171] ×2 + 8.84sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.84sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.85sINFOplatform_velocity_controllerconfigure successful + 8.85sINFOros2_control_nodeconfigure successful[0m ×6 + 8.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.87sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.87sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 8.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.90sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.94sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.99sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.99sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.99sWARNobjective_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. + 8.99sWARNobjective_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 + 8.99sWARNobjective_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. + 8.99sWARNobjective_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 + 8.99sWARNobjective_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. + 8.99sWARNobjective_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. + 8.99sWARNobjective_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 + 8.99sWARNobjective_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 + 8.99sWARNobjective_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. + 8.99sWARNobjective_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. + 8.99sWARNobjective_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 + 8.99sWARNobjective_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. + 8.99sWARNobjective_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 + 8.99sWARNobjective_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. + 8.99sWARNobjective_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 + 9.00sWARNobjective_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 + 9.00sWARNobjective_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. + 9.00sWARNobjective_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 + 9.00sWARNobjective_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. + 9.00sWARNobjective_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 + 9.07sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 9.07sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.09sINFOlocal_costmap.local_costmapstart + 9.11sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.11sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.11sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.11sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.11sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.11sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.11sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.16sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.16sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.20sWARNcontroller_serverParameter controller_server.verbose not found + 9.20sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 9.20sINFOros2-17process has finished cleanly [pid 8172] ×2 + 9.22sWARNplanning_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. + 9.22sWARNcomponent_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 + 9.22sWARNplanning_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. + 9.22sWARNcomponent_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 + 9.22sWARNplanning_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. + 9.22sWARNplanning_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. + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNplanning_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. + 9.22sWARNcomponent_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 + 9.22sWARNplanning_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. + 9.22sWARNcomponent_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 + 9.22sWARNplanning_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. + 9.22sWARNplanning_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. + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNplanning_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. + 9.22sWARNplanning_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. + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNplanning_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. + 9.23sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNcomponent_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 + 9.23sWARNplanning_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. + 9.23sWARNplanning_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. + 9.24sWARNplanning_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. + 9.24sWARNcomponent_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 + 9.24sWARNplanning_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. + 9.24sWARNcomponent_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 + 9.24sWARNcomponent_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 + 9.24sWARNplanning_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. + 9.24sWARNcomponent_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 + 9.24sWARNcomponent_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 + 9.24sWARNplanning_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. + 9.24sWARNcomponent_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 + 9.24sWARNplanning_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. + 9.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.31sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.31sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.31sINFOsmoother_serverActivating + 9.31sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 9.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127242 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127242 ms (missed cycles : 2).[0m ×2 + 9.39sINFOmove_groupMoveGroup debug mode is ON + 9.40sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.40sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.41sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.41sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.41sINFOplanner_serverActivating + 9.41sINFOglobal_costmap.global_costmapActivating + 9.41sINFOglobal_costmap.global_costmapChecking transform + 9.41sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 9.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.45sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.45sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.45sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.45sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.46sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.46sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.52sINFOcomponent_container_mt[2026-10-11 06:33:38.767] [moveit_pro_license] [info] ×2 + 9.52sINFOcomponent_container_mt************************************************* ×4 + 9.52sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.52sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.57sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 9.57sINFOmove_group ×8 + 9.57sINFOmove_group******************************************************** ×4 + 9.57sINFOmove_group* MoveGroup using: ×2 + 9.57sINFOmove_group* - apply_planning_scene_service ×2 + 9.57sINFOmove_group* - clear_octomap_service ×2 + 9.57sINFOmove_group* - get_group_urdf ×2 + 9.57sINFOmove_group* - load_geometry_from_file ×2 + 9.57sINFOmove_group* - get_planning_scene_service ×2 + 9.57sINFOmove_group* - kinematics_service ×2 + 9.57sINFOmove_group* - save_geometry_to_file ×2 + 9.57sINFOmove_group* - GetPlanningGroups ×2 + 9.57sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.57sINFOmove_group[0m ×2 + 9.57sINFOmove_group[92mYou can start planning now![0m ×2 + 9.85sINFOros2_control_node[2026-10-11 06:33:39.093] [info] Controller state will be published at 20 Hz. ×2 + 9.85sINFOros2_control_node[2026-10-11 06:33:39.095] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.88sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.88sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.04sWARNros2_control_nodeCamera render tick took 1.04 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.07sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.07sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.07sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.08sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.12sINFOamclParticle filter update iteration stats: 1788 particles 811 points - 46.926ms + 10.19sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.19sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.19sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.19sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 10.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 10.22sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.22sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.23sINFOros2-23process has finished cleanly [pid 8184] ×2 + 10.25sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.25sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.26sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.26sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.26sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.26sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.27sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.27sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.41sINFOglobal_costmap.global_costmapstart + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064847 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064847 ms (missed cycles : 2).[0m ×2 + 10.58sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.58sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.58sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.58sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 10.58sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 10.58sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 10.61sINFOros2-18process has finished cleanly [pid 8173] ×2 + 10.63sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.63sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.65sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.65sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.65sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.65sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.66sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.66sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.96sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.96sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.96sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.96sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.96sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 10.96sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 10.97sINFOros2-15process has finished cleanly [pid 8170] ×2 + 11.01sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 11.01sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.01sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.01sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.41sINFOros2_control_node[2026-10-11 06:33:40.656] [info] Controller state will be published at 20 Hz. ×2 + 11.41sINFOros2_control_node[2026-10-11 06:33:40.657] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.47sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.47sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.57sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.57sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.57sINFObehavior_serverActivating + 11.57sINFObehavior_serverActivating spin + 11.57sINFObehavior_serverActivating backup + 11.57sINFObehavior_serverActivating drive_on_heading + 11.57sINFObehavior_serverActivating assisted_teleop + 11.57sINFObehavior_serverActivating wait + 11.57sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858938 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858938 ms (missed cycles : 2).[0m ×2 + 11.68sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.68sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.68sINFObt_navigatorActivating + 11.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.78sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.78sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 11.78sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 11.78sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.79sINFOros2-24process has finished cleanly [pid 8201] ×2 + 11.85sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.86sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.86sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.86sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.86sINFOplatform_velocity_controller_nav2configure successful + 11.89sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.89sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.89sINFOwaypoint_followerActivating + 11.89sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 12.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 12.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 12.00sINFOvelocity_smootherActivating + 12.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 12.11sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 12.11sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 12.11sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 12.17sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.17sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.17sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.17sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.17sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 12.17sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 12.21sINFOros2-19process has finished cleanly [pid 8174] ×2 + 12.23sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.23sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.23sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.23sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.24sINFOforce_torque_sensor_broadcasterconfigure successful + 12.24sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.24sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.25sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 12.25sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.57sINFOros2-14process has finished cleanly [pid 8169] ×2 + 12.59sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.59sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 12.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717468 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717468 ms (missed cycles : 2).[0m ×2 + 12.73sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.73sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.74sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.74sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 13.16sINFOros2_control_node[2026-10-11 06:33:42.405] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.16sINFOros2_control_node[2026-10-11 06:33:42.408] [info] Controller state will be published at 10 Hz. ×2 + 13.17sINFOros2_control_node[2026-10-11 06:33:42.410] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.50sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.50sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.50sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.50sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.50sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f + 13.50sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_uvy_qepe --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_xh82li_u --params-file /tmp/launch_params_2bz38a9f [0m ×2 + 13.53sINFOros2-21process has finished cleanly [pid 8176] ×2 + 13.56sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.56sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.56sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.56sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701726 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701726 ms (missed cycles : 2).[0m ×2 + 14.04sINFOros2_control_node[2026-10-11 06:33:43.285] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 14.04sINFOros2_control_node[2026-10-11 06:33:43.286] [info] Controller state will be published at 10 Hz. ×2 + 14.04sINFOros2_control_node[2026-10-11 06:33:43.287] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.38sINFOros2-22process has finished cleanly [pid 8177] ×2 + 14.80sWARNobjective_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 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850298 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850298 ms (missed cycles : 2).[0m ×2 + 14.89sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 15.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 15.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 15.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 15.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 15.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 15.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 15.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 15.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330921 ms (missed cycles : 4). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330921 ms (missed cycles : 4).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645926 ms (missed cycles : 3). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645926 ms (missed cycles : 3).[0m ×2 + 17.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 20.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 20.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 20.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 20.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 20.69sINFOobjective_server_nodecaller: ×10 + 20.69sINFOobjective_server_nodetype: 0 ×10 + 20.69sINFOobjective_server_nodename: "" ×10 + 20.69sINFOobjective_server_nodeinstance_id: "" ×10 + 20.70sINFOobjective_server_node ×10 + 20.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 20.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 20.74sINFOmove_groupClearing octomap...[0m ×4 + 20.74sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 20.74sINFOmove_groupOctomap cleared.[0m ×4 + 20.74sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 20.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 21.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 21.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 21.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 21.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 22.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 22.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 22.71sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 22.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 22.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 22.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 22.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 22.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 23.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 23.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 23.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 23.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 23.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 23.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 23.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 23.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | test_fuse_inputs_reach_a_reliable_subscriber | 0.5s | 21 warnings · 337 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645926 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645926 ms (missed cycles : 3).[0m ×2 + 0.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 2.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×15 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.79sINFOobjective_server_nodecaller: ×10 + 3.79sINFOobjective_server_nodetype: 0 ×10 + 3.79sINFOobjective_server_nodename: "" ×10 + 3.79sINFOobjective_server_nodeinstance_id: "" ×10 + 3.79sINFOobjective_server_node ×10 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.83sINFOmove_groupClearing octomap...[0m ×4 + 3.83sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.84sINFOmove_groupOctomap cleared.[0m ×4 + 3.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_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 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass28 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 66.1s | 3 errors · 250 warnings · 280 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.759ms + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.021ms + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649319 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649319 ms (missed cycles : 4).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.325ms + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413925 ms (missed cycles : 4). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413925 ms (missed cycles : 4).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.961ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302326 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302326 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sERRORobjective_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: 1791700640.85303617 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOstate_estimatorReceived a set_pose request (stamp: 1791700640874086618, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.197ms + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.40sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.952ms + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791700641.45665693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771198 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771198 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559870 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559870 ms (missed cycles : 3).[0m ×2 + 5.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.38sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.38sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.992ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447840 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447840 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.66sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.66sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.66sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.66sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636261 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636261 ms (missed cycles : 3).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439913 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439913 ms (missed cycles : 3).[0m ×2 + 9.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.307ms + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241759 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241759 ms (missed cycles : 2).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.621ms + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902812 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902812 ms (missed cycles : 3).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.300ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918058 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918058 ms (missed cycles : 3).[0m ×2 + 11.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.931ms + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803085 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803085 ms (missed cycles : 2).[0m ×2 + 12.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.337ms + 13.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.357ms + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372248 ms (missed cycles : 3). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372248 ms (missed cycles : 3).[0m ×2 + 13.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.623ms + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.321ms + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680271 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680271 ms (missed cycles : 2).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.338ms + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.419ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147973 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147973 ms (missed cycles : 2).[0m ×2 + 15.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.839ms + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.128ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796892 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796892 ms (missed cycles : 2).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.610ms + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.182ms + 17.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×10 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532498 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532498 ms (missed cycles : 3).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.183ms + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.485ms + 18.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.924ms + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343370 ms (missed cycles : 4). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343370 ms (missed cycles : 4).[0m ×2 + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.355ms + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.275ms + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3).[0m ×2 + 20.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.895ms + 20.70sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.265ms + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542073 ms (missed cycles : 3). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542073 ms (missed cycles : 3).[0m ×2 + 21.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.976ms + 21.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.734ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954202 ms (missed cycles : 3). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954202 ms (missed cycles : 3).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.097ms + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.648ms + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429550 ms (missed cycles : 6). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429550 ms (missed cycles : 6).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.594ms + 23.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.477ms + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379844 ms (missed cycles : 5). + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379844 ms (missed cycles : 5).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.288ms + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.789ms + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368967 ms (missed cycles : 4). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368967 ms (missed cycles : 4).[0m ×2 + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.581ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.534ms + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625387 ms (missed cycles : 2). + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625387 ms (missed cycles : 2).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.585ms + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.585ms + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601759 ms (missed cycles : 3). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601759 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.356ms + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065648 ms (missed cycles : 5). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065648 ms (missed cycles : 5).[0m ×2 + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.706ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.529ms + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159012 ms (missed cycles : 5). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159012 ms (missed cycles : 5).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.766ms + 29.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.274ms + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830500 ms (missed cycles : 3). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830500 ms (missed cycles : 3).[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.644ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.289ms + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063615 ms (missed cycles : 4). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063615 ms (missed cycles : 4).[0m ×2 + 31.92sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.007ms + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.435ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416616 ms (missed cycles : 3). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416616 ms (missed cycles : 3).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.123ms + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.899ms + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641322 ms (missed cycles : 3). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641322 ms (missed cycles : 3).[0m ×2 + 34.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.507ms + 34.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230601 ms (missed cycles : 4). + 34.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230601 ms (missed cycles : 4).[0m ×2 + 35.03sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.03sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976641 ms (missed cycles : 4). + 35.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976641 ms (missed cycles : 4).[0m ×2 + 35.64sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253926 ms (missed cycles : 2). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253926 ms (missed cycles : 2).[0m ×2 + 36.79sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 37.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614853 ms (missed cycles : 3). + 37.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614853 ms (missed cycles : 3).[0m ×2 + 38.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038188 ms (missed cycles : 2). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038188 ms (missed cycles : 2).[0m ×2 + 39.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.387ms + 39.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183015 ms (missed cycles : 3). + 39.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183015 ms (missed cycles : 3).[0m ×2 + 40.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.409ms + 40.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340480 ms (missed cycles : 2). + 40.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340480 ms (missed cycles : 2).[0m ×2 + 40.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.013ms + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.088ms + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977945 ms (missed cycles : 3). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977945 ms (missed cycles : 3).[0m ×2 + 42.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.699ms + 42.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336502 ms (missed cycles : 4). + 42.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336502 ms (missed cycles : 4).[0m ×2 + 44.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438651 ms (missed cycles : 3). + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438651 ms (missed cycles : 3).[0m ×2 + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000287 ms (missed cycles : 2). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000287 ms (missed cycles : 2).[0m ×2 + 45.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.737ms + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789263 ms (missed cycles : 3). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789263 ms (missed cycles : 3).[0m ×2 + 47.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.369ms + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023893 ms (missed cycles : 3). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023893 ms (missed cycles : 3).[0m ×2 + 47.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.975ms + 48.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.822ms + 48.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567291 ms (missed cycles : 4). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567291 ms (missed cycles : 4).[0m ×2 + 48.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.212ms + 49.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.454ms + 49.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914563 ms (missed cycles : 2). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914563 ms (missed cycles : 2).[0m ×2 + 49.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.773ms + 50.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086306 ms (missed cycles : 5). + 50.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086306 ms (missed cycles : 5).[0m ×2 + 50.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.773ms + 50.82sINFOobjective_server_nodePlanning for 17 path waypoints. ×6 + 51.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108640 ms (missed cycles : 2). + 51.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108640 ms (missed cycles : 2).[0m ×2 + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994768 ms (missed cycles : 2). + 52.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994768 ms (missed cycles : 2).[0m ×2 + 53.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571816 ms (missed cycles : 2). + 53.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571816 ms (missed cycles : 2).[0m ×2 + 54.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.074ms + 54.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757071 ms (missed cycles : 5). + 54.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757071 ms (missed cycles : 5).[0m ×2 + 54.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.109ms + 55.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.587ms + 55.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391826 ms (missed cycles : 4). + 55.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391826 ms (missed cycles : 4).[0m ×2 + 55.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.294ms + 56.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.623ms + 56.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.663ms + 56.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780129 ms (missed cycles : 3). + 56.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780129 ms (missed cycles : 3).[0m ×2 + 57.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.667ms + 57.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783700 ms (missed cycles : 3). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783700 ms (missed cycles : 3).[0m ×2 + 59.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108810 ms (missed cycles : 5). + 59.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108810 ms (missed cycles : 5).[0m ×2 + 59.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.159ms + 60.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428364 ms (missed cycles : 5). + 60.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428364 ms (missed cycles : 5).[0m ×2 + 60.24sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 61.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179567 ms (missed cycles : 2). + 61.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179567 ms (missed cycles : 2).[0m ×2 + 61.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.835ms + 62.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486055 ms (missed cycles : 4). + 62.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486055 ms (missed cycles : 4).[0m ×2 + 63.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971293 ms (missed cycles : 3). + 63.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971293 ms (missed cycles : 3).[0m ×2 + 63.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.861ms + 64.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804284 ms (missed cycles : 3). + 64.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804284 ms (missed cycles : 3).[0m ×2 + 65.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.017ms + 65.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927152 ms (missed cycles : 2). + 65.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927152 ms (missed cycles : 2).[0m ×2 + 66.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 66.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.667ms + 66.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786330 ms (missed cycles : 2). + 66.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786330 ms (missed cycles : 2).[0m ×2 + 67.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.233ms + 67.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.087ms + 68.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992882 ms (missed cycles : 3). + 68.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992882 ms (missed cycles : 3).[0m ×2 + 68.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.655ms + 68.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.844ms + 69.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995832 ms (missed cycles : 2). + 69.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995832 ms (missed cycles : 2).[0m ×2 + 69.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791700706.91681147 seconds ×3 + 69.31sINFOstate_estimatorReceived a set_pose request (stamp: 1791700706939023179, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 69.40sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.60) is out of map bounds (-4.35, 5.30) to (0.63, 10.28). The costmap cannot raytrace for it. + 69.40sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.42) is out of map bounds (-4.35, 5.30) to (0.63, 10.28). The costmap cannot raytrace for it. + 69.50sWARNlocal_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. ×2 + 69.50sWARNlocal_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. ×2 + 69.70sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 69.70sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.46) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 69.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 69.83sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.87sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1791700707.51274753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 70.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.558ms + 70.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568276, y=-0.0171814, yaw=-0.0184011 + 70.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957578 ms (missed cycles : 3). + 70.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957578 ms (missed cycles : 3).[0m ×2 + 70.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.609ms + 71.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473986 ms (missed cycles : 3). + 71.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473986 ms (missed cycles : 3).[0m ×2 + 72.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 72.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.3s | 215 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.22sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.55sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073864 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073864 ms (missed cycles : 4).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389122 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389122 ms (missed cycles : 3).[0m ×2 + 8.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.537ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852089 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852089 ms (missed cycles : 2).[0m ×2 + 9.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.848ms + 10.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.166ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291672 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291672 ms (missed cycles : 2).[0m ×2 + 11.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.681ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522301 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522301 ms (missed cycles : 3).[0m ×2 + 11.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.342ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401850 ms (missed cycles : 4). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401850 ms (missed cycles : 4).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.163ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.180ms + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970129 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970129 ms (missed cycles : 2).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.361ms + 13.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×6 + 14.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.094ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728984 ms (missed cycles : 4). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728984 ms (missed cycles : 4).[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.806ms + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.907ms + 15.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.628ms + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853682 ms (missed cycles : 3). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853682 ms (missed cycles : 3).[0m ×2 + 16.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.181ms + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.409ms + 17.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683547 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683547 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.108ms + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.561ms + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701386 ms (missed cycles : 3). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701386 ms (missed cycles : 3).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.283ms + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.003ms + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969056 ms (missed cycles : 3). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969056 ms (missed cycles : 3).[0m ×2 + 19.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.018ms + 19.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.248ms + 20.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.954ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043050 ms (missed cycles : 2). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043050 ms (missed cycles : 2).[0m ×2 + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.195ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.969ms + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322276 ms (missed cycles : 2). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322276 ms (missed cycles : 2).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.297ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.089ms + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543199 ms (missed cycles : 2). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543199 ms (missed cycles : 2).[0m ×2 + 22.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.708ms + 23.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.382ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572732 ms (missed cycles : 2). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572732 ms (missed cycles : 2).[0m ×2 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 24.18sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.914ms + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151069 ms (missed cycles : 2). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151069 ms (missed cycles : 2).[0m ×2 + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.515ms + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.394ms + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225936 ms (missed cycles : 2). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225936 ms (missed cycles : 2).[0m ×2 + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.910ms + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.158ms + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499989 ms (missed cycles : 3). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499989 ms (missed cycles : 3).[0m ×2 + 27.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.617ms + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858176 ms (missed cycles : 2). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858176 ms (missed cycles : 2).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.747ms + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702342 ms (missed cycles : 3). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702342 ms (missed cycles : 3).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.765ms + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.145ms + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138419 ms (missed cycles : 3). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138419 ms (missed cycles : 3).[0m ×2 + 29.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.380ms + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.247ms + 30.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432176 ms (missed cycles : 2). + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432176 ms (missed cycles : 2).[0m ×2 + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.448ms + 30.89sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×6 + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.868ms + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.711ms + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198000 ms (missed cycles : 2). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198000 ms (missed cycles : 2).[0m ×2 + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.116ms + 32.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.680ms + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099577 ms (missed cycles : 2). + 33.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099577 ms (missed cycles : 2).[0m ×2 + 33.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.500ms + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235875 ms (missed cycles : 3). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235875 ms (missed cycles : 3).[0m ×2 + 34.96sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588161 ms (missed cycles : 3). + 35.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588161 ms (missed cycles : 3).[0m ×2 + 35.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.551ms + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911510 ms (missed cycles : 2). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911510 ms (missed cycles : 2).[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304884 ms (missed cycles : 2). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304884 ms (missed cycles : 2).[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825799 ms (missed cycles : 3). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825799 ms (missed cycles : 3).[0m ×2 + 39.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011555 ms (missed cycles : 2). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011555 ms (missed cycles : 2).[0m ×2 + 40.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800724 ms (missed cycles : 3). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800724 ms (missed cycles : 3).[0m ×2 + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108597 ms (missed cycles : 5). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108597 ms (missed cycles : 5).[0m ×2 + 41.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.395ms + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892295 ms (missed cycles : 3). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892295 ms (missed cycles : 3).[0m ×2 + 42.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.042ms + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228311 ms (missed cycles : 3). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228311 ms (missed cycles : 3).[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312609 ms (missed cycles : 3). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312609 ms (missed cycles : 3).[0m ×2 + 45.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.983ms + 45.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878072 ms (missed cycles : 4). + 45.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878072 ms (missed cycles : 4).[0m ×2 + 46.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796284 ms (missed cycles : 2). + 46.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796284 ms (missed cycles : 2).[0m ×2 + 47.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249502 ms (missed cycles : 2). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249502 ms (missed cycles : 2).[0m ×2 + 48.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.476ms + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762127 ms (missed cycles : 2). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762127 ms (missed cycles : 2).[0m ×2 + 49.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 49.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745275 ms (missed cycles : 2). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745275 ms (missed cycles : 2).[0m ×2 + 50.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968235 ms (missed cycles : 2). + 50.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968235 ms (missed cycles : 2).[0m ×2 + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421413 ms (missed cycles : 4). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421413 ms (missed cycles : 4).[0m ×2 + 52.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.984ms + 52.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217987 ms (missed cycles : 5). + 52.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217987 ms (missed cycles : 5).[0m ×2 + 53.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301515 ms (missed cycles : 2). + 53.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301515 ms (missed cycles : 2).[0m ×2 + 54.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548789 ms (missed cycles : 3). + 54.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548789 ms (missed cycles : 3).[0m ×2 + 55.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693998 ms (missed cycles : 2). + 55.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693998 ms (missed cycles : 2).[0m ×2 + 56.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.178ms + 57.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817077 ms (missed cycles : 4). + 57.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817077 ms (missed cycles : 4).[0m ×2 + 58.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181852 ms (missed cycles : 4). + 58.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181852 ms (missed cycles : 4).[0m ×2 + 59.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319185 ms (missed cycles : 3). + 59.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319185 ms (missed cycles : 3).[0m ×2 + 59.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.201ms + 60.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699736 ms (missed cycles : 2). + 60.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699736 ms (missed cycles : 2).[0m ×2 + 60.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791700770.67945433 seconds ×3 + 60.58sINFOstate_estimatorReceived a set_pose request (stamp: 1791700770695906722, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.61sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-4.20, 3.80) to (0.78, 8.78). The costmap cannot raytrace for it. + 60.61sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.25) is out of map bounds (-4.20, 3.80) to (0.78, 8.78). The costmap cannot raytrace for it. + 60.71sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.71sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.91sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.91sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 61.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.09sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.15sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791700771.28083754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.31sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.468ms + 61.31sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.31sINFOamclInitializing particles from estimated pose and covariance + 61.31sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.31sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568387, y=-0.0171814, yaw=-0.018402 + 61.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023056 ms (missed cycles : 4). + 61.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023056 ms (missed cycles : 4).[0m ×2 + 61.56sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 61.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.554ms + 61.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758650 ms (missed cycles : 3). + 62.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758650 ms (missed cycles : 3).[0m ×2 + 63.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873524 ms (missed cycles : 2). + 63.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873524 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 192 warnings · 230 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.525ms + 0.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.072ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317791 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317791 ms (missed cycles : 2).[0m ×2 + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.217ms + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.777ms + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.587ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924084 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924084 ms (missed cycles : 2).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.472ms + 2.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.291ms + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.345ms ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044507 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044507 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791700481.65834451 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 3.14sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 3.15sINFOstate_estimatorReceived a set_pose request (stamp: 1791700481674178572, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791700482.25542498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOamclParticle filter update iteration stats: 1788 particles 811 points - 6.773ms + 3.80sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.80sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568567, y=-0.017181, yaw=-0.0184014 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978224 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978224 ms (missed cycles : 3).[0m ×2 + 4.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.680ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180195 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180195 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490153 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490153 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233368 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233368 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025049 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025049 ms (missed cycles : 3).[0m ×2 + 8.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.428ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474352 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474352 ms (missed cycles : 3).[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.630ms + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.942ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357371 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357371 ms (missed cycles : 3).[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.732ms + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523374 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523374 ms (missed cycles : 3).[0m ×2 + 12.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.894ms + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451263 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451263 ms (missed cycles : 3).[0m ×2 + 13.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.187ms + 13.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.424ms + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854454 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854454 ms (missed cycles : 2).[0m ×2 + 14.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.837ms + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472391 ms (missed cycles : 3). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472391 ms (missed cycles : 3).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.576ms + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452459 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452459 ms (missed cycles : 2).[0m ×2 + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.971ms + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279734 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279734 ms (missed cycles : 2).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.477ms + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.889ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799468 ms (missed cycles : 2). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799468 ms (missed cycles : 2).[0m ×2 + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.650ms + 18.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.521ms + 18.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.235ms + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378861 ms (missed cycles : 4). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378861 ms (missed cycles : 4).[0m ×2 + 19.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.549ms + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.291ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676707 ms (missed cycles : 3). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676707 ms (missed cycles : 3).[0m ×2 + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.876ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.959ms + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588890 ms (missed cycles : 3). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588890 ms (missed cycles : 3).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.446ms + 21.30sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 21.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.261ms + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348866 ms (missed cycles : 4). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348866 ms (missed cycles : 4).[0m ×2 + 22.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.673ms + 22.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980258 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980258 ms (missed cycles : 2).[0m ×2 + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.548ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.532ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695579 ms (missed cycles : 3). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695579 ms (missed cycles : 3).[0m ×2 + 24.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.918ms + 24.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.650ms + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.952ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848449 ms (missed cycles : 3). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848449 ms (missed cycles : 3).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.920ms + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565761 ms (missed cycles : 4). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565761 ms (missed cycles : 4).[0m ×2 + 26.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.463ms + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.683ms + 27.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764055 ms (missed cycles : 2). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764055 ms (missed cycles : 2).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.615ms + 27.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.596ms + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781641 ms (missed cycles : 2). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781641 ms (missed cycles : 2).[0m ×2 + 28.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.677ms + 28.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.096ms + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451636 ms (missed cycles : 3). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451636 ms (missed cycles : 3).[0m ×2 + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.086ms + 29.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.083ms + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530185 ms (missed cycles : 3). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530185 ms (missed cycles : 3).[0m ×2 + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.010ms + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.953ms + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737479 ms (missed cycles : 4). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737479 ms (missed cycles : 4).[0m ×2 + 32.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.174ms + 32.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.073766 ms (missed cycles : 5). + 32.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.073766 ms (missed cycles : 5).[0m ×2 + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.508ms + 33.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.448ms + 33.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 33.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155390 ms (missed cycles : 2). + 33.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155390 ms (missed cycles : 2).[0m ×2 + 34.79sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870801 ms (missed cycles : 2). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870801 ms (missed cycles : 2).[0m ×2 + 35.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.005ms + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764820 ms (missed cycles : 2). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764820 ms (missed cycles : 2).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662436 ms (missed cycles : 2). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662436 ms (missed cycles : 2).[0m ×2 + 37.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513519 ms (missed cycles : 2). + 37.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513519 ms (missed cycles : 2).[0m ×2 + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092121 ms (missed cycles : 3). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092121 ms (missed cycles : 3).[0m ×2 + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062142 ms (missed cycles : 2). + 40.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062142 ms (missed cycles : 2).[0m ×2 + 41.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.556ms + 41.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871667 ms (missed cycles : 3). + 41.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871667 ms (missed cycles : 3).[0m ×2 + 42.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.126ms + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860590 ms (missed cycles : 5). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860590 ms (missed cycles : 5).[0m ×2 + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555354 ms (missed cycles : 3). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555354 ms (missed cycles : 3).[0m ×2 + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385983 ms (missed cycles : 4). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385983 ms (missed cycles : 4).[0m ×2 + 44.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.858ms + 45.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.841ms + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312963 ms (missed cycles : 5). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312963 ms (missed cycles : 5).[0m ×2 + 46.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342686 ms (missed cycles : 3). + 46.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342686 ms (missed cycles : 3).[0m ×2 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473229 ms (missed cycles : 3). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473229 ms (missed cycles : 3).[0m ×2 + 48.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.227ms + 48.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.867ms + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816600 ms (missed cycles : 3). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816600 ms (missed cycles : 3).[0m ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439995 ms (missed cycles : 3). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439995 ms (missed cycles : 3).[0m ×2 + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772159 ms (missed cycles : 3). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772159 ms (missed cycles : 3).[0m ×2 + 51.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.151ms + 52.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663029 ms (missed cycles : 3). + 52.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663029 ms (missed cycles : 3).[0m ×2 + 53.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976002 ms (missed cycles : 3). + 53.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976002 ms (missed cycles : 3).[0m ×2 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060673 ms (missed cycles : 2). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060673 ms (missed cycles : 2).[0m ×2 + 55.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.557ms + 55.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825196 ms (missed cycles : 2). + 55.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825196 ms (missed cycles : 2).[0m ×2 + 56.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.640ms + 56.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509491 ms (missed cycles : 3). + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509491 ms (missed cycles : 3).[0m ×2 + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2).[0m ×2 + 58.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3). + 58.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3).[0m ×2 + 59.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.210ms + 59.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2). + 59.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2).[0m ×2 + 60.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700538.93556547 seconds ×3 + 60.43sINFOstate_estimatorReceived a set_pose request (stamp: 1791700538960727234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.59sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.59sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.88sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.274ms + 60.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3). + 60.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3).[0m ×2 + 60.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.94sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.99sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700539.54172564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.37sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 61.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2). + 62.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2).[0m ×2 + 62.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 62.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 62.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0165787, yaw=-0.0171462 + 62.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.622ms + 63.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2). + 63.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.7s | 203 warnings · 239 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.522ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.814ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.793ms + 1.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.297ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025192 ms (missed cycles : 4). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025192 ms (missed cycles : 4).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.677ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601392 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601392 ms (missed cycles : 3).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.24sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700578.14287305 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOstate_estimatorReceived a set_pose request (stamp: 1791700578165895258, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.53sWARNlocal_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. ×5 + 3.53sWARNlocal_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. ×5 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363368 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363368 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700578.74372506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.372ms + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.95sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.076ms + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161880 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161880 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895053 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895053 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.51sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.51sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.51sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768025 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768025 ms (missed cycles : 2).[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835324 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835324 ms (missed cycles : 2).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.007ms + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.930010 ms (missed cycles : 5). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.930010 ms (missed cycles : 5).[0m ×2 + 9.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.696ms + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489579 ms (missed cycles : 3). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489579 ms (missed cycles : 3).[0m ×2 + 10.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.453ms + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846023 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846023 ms (missed cycles : 2).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.602ms + 11.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×6 + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.246ms + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021479 ms (missed cycles : 3). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021479 ms (missed cycles : 3).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.109ms + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.475ms + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622646 ms (missed cycles : 3). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622646 ms (missed cycles : 3).[0m ×2 + 14.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.454ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276814 ms (missed cycles : 4). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276814 ms (missed cycles : 4).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.871ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.816ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619373 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619373 ms (missed cycles : 2).[0m ×2 + 15.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 16.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.711ms + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022254 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022254 ms (missed cycles : 3).[0m ×2 + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.053ms + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.226ms + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114101 ms (missed cycles : 5). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114101 ms (missed cycles : 5).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.664ms + 18.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.509ms + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037267 ms (missed cycles : 3). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037267 ms (missed cycles : 3).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.072ms + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.442ms + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271817 ms (missed cycles : 4). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271817 ms (missed cycles : 4).[0m ×2 + 19.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.270ms + 20.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.804ms + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918181 ms (missed cycles : 3). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918181 ms (missed cycles : 3).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.414ms + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.129ms + 21.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.858ms + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652792 ms (missed cycles : 3). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652792 ms (missed cycles : 3).[0m ×2 + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.327ms + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.710ms + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317400 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317400 ms (missed cycles : 2).[0m ×2 + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.889ms ×2 + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.070ms + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227843 ms (missed cycles : 5). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227843 ms (missed cycles : 5).[0m ×2 + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.606ms + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982872 ms (missed cycles : 4). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982872 ms (missed cycles : 4).[0m ×2 + 25.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.795ms + 25.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.148ms + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.434ms + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978577 ms (missed cycles : 3). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978577 ms (missed cycles : 3).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.573ms + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719682 ms (missed cycles : 3). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719682 ms (missed cycles : 3).[0m ×2 + 27.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.092ms + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.975ms + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938768 ms (missed cycles : 3). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938768 ms (missed cycles : 3).[0m ×2 + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.639ms + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600902 ms (missed cycles : 3). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600902 ms (missed cycles : 3).[0m ×2 + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.206ms + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.259ms + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961248 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961248 ms (missed cycles : 2).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.246ms + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.096ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123388 ms (missed cycles : 2). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123388 ms (missed cycles : 2).[0m ×2 + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.418ms + 32.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.805ms + 32.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941162 ms (missed cycles : 2). + 32.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941162 ms (missed cycles : 2).[0m ×2 + 32.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.173ms + 32.93sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×8 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144508 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144508 ms (missed cycles : 2).[0m ×2 + 33.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.141ms + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362785 ms (missed cycles : 6). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362785 ms (missed cycles : 6).[0m ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120706 ms (missed cycles : 2). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120706 ms (missed cycles : 2).[0m ×2 + 36.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612476 ms (missed cycles : 2). + 36.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612476 ms (missed cycles : 2).[0m ×2 + 36.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.303ms + 37.64sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.115732 ms (missed cycles : 5). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.115732 ms (missed cycles : 5).[0m ×2 + 38.40sINFOobjective_server_nodePlanning for 24 path waypoints. ×3 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278599 ms (missed cycles : 5). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278599 ms (missed cycles : 5).[0m ×2 + 40.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925577 ms (missed cycles : 2). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925577 ms (missed cycles : 2).[0m ×2 + 40.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.399ms + 41.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864717 ms (missed cycles : 3). + 41.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864717 ms (missed cycles : 3).[0m ×2 + 41.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.385ms + 41.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.540ms + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585854 ms (missed cycles : 3). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585854 ms (missed cycles : 3).[0m ×2 + 42.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.929ms + 42.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.116ms + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066896 ms (missed cycles : 3). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066896 ms (missed cycles : 3).[0m ×2 + 43.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.839ms + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818872 ms (missed cycles : 3). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818872 ms (missed cycles : 3).[0m ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681241 ms (missed cycles : 3). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681241 ms (missed cycles : 3).[0m ×2 + 46.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.083ms + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288417 ms (missed cycles : 2). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288417 ms (missed cycles : 2).[0m ×2 + 46.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.636ms + 47.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.645ms + 47.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502177 ms (missed cycles : 4). + 47.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502177 ms (missed cycles : 4).[0m ×2 + 47.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.337ms + 48.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.188ms + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883434 ms (missed cycles : 3). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883434 ms (missed cycles : 3).[0m ×2 + 48.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.438ms + 49.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.734ms + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797753 ms (missed cycles : 3). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797753 ms (missed cycles : 3).[0m ×2 + 49.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.672ms + 50.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.877ms + 50.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856013 ms (missed cycles : 3). + 50.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856013 ms (missed cycles : 3).[0m ×2 + 51.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.999ms + 51.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482138 ms (missed cycles : 3). + 51.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482138 ms (missed cycles : 3).[0m ×2 + 52.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990330 ms (missed cycles : 2). + 52.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990330 ms (missed cycles : 2).[0m ×2 + 53.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.368ms + 53.62sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 53.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914631 ms (missed cycles : 2). + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914631 ms (missed cycles : 2).[0m ×2 + 54.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.462ms + 54.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628564 ms (missed cycles : 3). + 54.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628564 ms (missed cycles : 3).[0m ×2 + 54.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791700629.89387250 seconds ×3 + 55.01sINFOstate_estimatorReceived a set_pose request (stamp: 1791700629909033758, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 55.13sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.55) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 55.13sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 55.23sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.23sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.52sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.551ms + 55.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.53sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.59sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791700630.49094939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848511 ms (missed cycles : 2). + 55.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848511 ms (missed cycles : 2).[0m ×2 + 56.00sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 56.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378175 ms (missed cycles : 4). + 56.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378175 ms (missed cycles : 4).[0m ×2 + 57.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 57.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.751ms + 58.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590533 ms (missed cycles : 3). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590533 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 141 warnings · 426 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.00sINFOros2_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.07sINFOobjective_server_nodecaller: ×12 + 1.07sINFOobjective_server_nodetype: 0 ×12 + 1.07sINFOobjective_server_nodename: "" ×12 + 1.07sINFOobjective_server_nodeinstance_id: "" ×12 + 1.07sINFOobjective_server_node ×12 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_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 + 3.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804325 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804325 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436325 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436325 ms (missed cycles : 3).[0m ×2 + 7.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.444ms + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619493 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619493 ms (missed cycles : 3).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029138 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029138 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926836 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926836 ms (missed cycles : 3).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544931 ms (missed cycles : 4). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544931 ms (missed cycles : 4).[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054921 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054921 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456363 ms (missed cycles : 4). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456363 ms (missed cycles : 4).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819832 ms (missed cycles : 5). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819832 ms (missed cycles : 5).[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075032 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075032 ms (missed cycles : 2).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887073 ms (missed cycles : 3). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887073 ms (missed cycles : 3).[0m ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588611 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588611 ms (missed cycles : 2).[0m ×2 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526576 ms (missed cycles : 3). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526576 ms (missed cycles : 3).[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221989 ms (missed cycles : 4). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221989 ms (missed cycles : 4).[0m ×2 + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567076 ms (missed cycles : 2). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567076 ms (missed cycles : 2).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995543 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995543 ms (missed cycles : 2).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2).[0m ×2 + 24.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.899ms + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692676 ms (missed cycles : 2). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692676 ms (missed cycles : 2).[0m ×2 + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249673 ms (missed cycles : 2). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249673 ms (missed cycles : 2).[0m ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423970 ms (missed cycles : 3). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423970 ms (missed cycles : 3).[0m ×2 + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851347 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851347 ms (missed cycles : 2).[0m ×2 + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116845 ms (missed cycles : 4). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116845 ms (missed cycles : 4).[0m ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244402 ms (missed cycles : 2). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244402 ms (missed cycles : 2).[0m ×2 + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753677 ms (missed cycles : 2). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753677 ms (missed cycles : 2).[0m ×2 + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587867 ms (missed cycles : 3). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587867 ms (missed cycles : 3).[0m ×2 + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663252 ms (missed cycles : 3). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663252 ms (missed cycles : 3).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080671 ms (missed cycles : 3). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080671 ms (missed cycles : 3).[0m ×2 + 34.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101018 ms (missed cycles : 2). + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101018 ms (missed cycles : 2).[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036933 ms (missed cycles : 3). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036933 ms (missed cycles : 3).[0m ×2 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561035 ms (missed cycles : 3). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561035 ms (missed cycles : 3).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890239 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890239 ms (missed cycles : 2).[0m ×2 + 38.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.375ms + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199271 ms (missed cycles : 2). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199271 ms (missed cycles : 2).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763981 ms (missed cycles : 2). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763981 ms (missed cycles : 2).[0m ×2 + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355713 ms (missed cycles : 4). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355713 ms (missed cycles : 4).[0m ×2 + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871723 ms (missed cycles : 3). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871723 ms (missed cycles : 3).[0m ×2 + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498178 ms (missed cycles : 4). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498178 ms (missed cycles : 4).[0m ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650170 ms (missed cycles : 3). + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650170 ms (missed cycles : 3).[0m ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031536 ms (missed cycles : 2). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031536 ms (missed cycles : 2).[0m ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798190 ms (missed cycles : 2). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798190 ms (missed cycles : 2).[0m ×2 + 46.66sINFOjoint_trajectory_controllerGoal reached, success! + 46.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791700475.54809856 seconds ×3 + 46.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.72sINFOstate_estimatorReceived a set_pose request (stamp: 1791700475570662567, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.23sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791700476.13823390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.253ms + 47.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.41sINFOamclInitializing particles from estimated pose and covariance + 47.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742817 ms (missed cycles : 3). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742817 ms (missed cycles : 3).[0m ×2 + 47.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.628ms + 48.34sINFOobjective_server_nodeFound path in 0 iterations (3.7793e-05 s). ×2 + 48.41sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447214 ms (missed cycles : 2). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447214 ms (missed cycles : 2).[0m ×2 + 49.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945028 ms (missed cycles : 3). + 49.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945028 ms (missed cycles : 3).[0m ×2 + 49.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.525ms + 50.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.072ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.8s | 127 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606295 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606295 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043255 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043255 ms (missed cycles : 2).[0m ×2 + 1.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.32sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791700545.32190251 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724831 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724831 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791700546.91273999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625735 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625735 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563784 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563784 ms (missed cycles : 3).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×8 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898977 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898977 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039507 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039507 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197342 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197342 ms (missed cycles : 2).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.722ms + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401032 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401032 ms (missed cycles : 4).[0m ×2 + 9.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.016ms + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463017 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463017 ms (missed cycles : 3).[0m ×2 + 10.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.269ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365109 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365109 ms (missed cycles : 3).[0m ×2 + 11.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.739ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008950 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008950 ms (missed cycles : 2).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.062ms + 12.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.320ms + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671182 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671182 ms (missed cycles : 2).[0m ×2 + 13.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.441ms + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447751 ms (missed cycles : 4). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447751 ms (missed cycles : 4).[0m ×2 + 14.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.614ms + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.310ms + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718703 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718703 ms (missed cycles : 3).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.396ms + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.373ms + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847322 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847322 ms (missed cycles : 3).[0m ×2 + 16.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.234ms + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.120ms + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031159 ms (missed cycles : 2). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031159 ms (missed cycles : 2).[0m ×2 + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.480ms + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.101ms + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.462ms + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542869 ms (missed cycles : 3). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542869 ms (missed cycles : 3).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.382ms + 19.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.508ms + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969154 ms (missed cycles : 5). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969154 ms (missed cycles : 5).[0m ×2 + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.010ms + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.022ms + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021071 ms (missed cycles : 5). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021071 ms (missed cycles : 5).[0m ×2 + 20.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.102ms + 21.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.491ms + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850235 ms (missed cycles : 3). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850235 ms (missed cycles : 3).[0m ×2 + 21.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.139ms + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139411 ms (missed cycles : 2). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139411 ms (missed cycles : 2).[0m ×2 + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.840ms + 23.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.394ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705737 ms (missed cycles : 2). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705737 ms (missed cycles : 2).[0m ×2 + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.353ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.893ms + 24.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.097ms + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916365 ms (missed cycles : 2). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916365 ms (missed cycles : 2).[0m ×2 + 25.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.596ms + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.335ms + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766915 ms (missed cycles : 2). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766915 ms (missed cycles : 2).[0m ×2 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.412ms + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.520ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.237ms + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651753 ms (missed cycles : 4). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651753 ms (missed cycles : 4).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.802ms + 27.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.611ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419506 ms (missed cycles : 3). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419506 ms (missed cycles : 3).[0m ×2 + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.872ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.448ms + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637288 ms (missed cycles : 3). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637288 ms (missed cycles : 3).[0m ×2 + 29.90sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.970ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548705 ms (missed cycles : 3). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548705 ms (missed cycles : 3).[0m ×2 + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.373ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.522ms + 31.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2). + 31.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2).[0m ×2 + 31.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.814ms + 31.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.793ms + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.297ms + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025192 ms (missed cycles : 4). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025192 ms (missed cycles : 4).[0m ×2 + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.677ms + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601392 ms (missed cycles : 3). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601392 ms (missed cycles : 3).[0m ×2 + 34.14sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700578.14287305 seconds ×3 + 34.18sINFOstate_estimatorReceived a set_pose request (stamp: 1791700578165895258, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.33sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.33sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.43sWARNlocal_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. ×5 + 34.43sWARNlocal_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. ×5 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363368 ms (missed cycles : 4). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363368 ms (missed cycles : 4).[0m ×2 + 34.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700578.74372506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.85sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.372ms + 34.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 34.85sINFOamclInitializing particles from estimated pose and covariance + 34.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 34.85sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 35.16sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 35.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.076ms + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161880 ms (missed cycles : 2). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161880 ms (missed cycles : 2).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895053 ms (missed cycles : 2). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895053 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.5s | 82 warnings · 258 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181852 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181852 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319185 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319185 ms (missed cycles : 3).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.201ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699736 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699736 ms (missed cycles : 2).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.27sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1791700770.67945433 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.36sINFOstate_estimatorReceived a set_pose request (stamp: 1791700770695906722, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.39sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-4.20, 3.80) to (0.78, 8.78). The costmap cannot raytrace for it. + 2.39sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.25) is out of map bounds (-4.20, 3.80) to (0.78, 8.78). The costmap cannot raytrace for it. + 2.49sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.49sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-3.96, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.87sINFOobjective_server_nodecaller: ×6 + 2.87sINFOobjective_server_nodetype: 0 ×6 + 2.87sINFOobjective_server_nodename: "" ×6 + 2.87sINFOobjective_server_nodeinstance_id: "" ×6 + 2.87sINFOobjective_server_node ×6 + 2.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1791700771.28083754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.468ms + 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 + 3.09sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.09sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568387, y=-0.0171814, yaw=-0.018402 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023056 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023056 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.554ms + 3.68sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758650 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758650 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873524 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873524 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296804 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296804 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587419 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587419 ms (missed cycles : 3).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120640 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120640 ms (missed cycles : 2).[0m ×2 + 9.38sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.47sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220320 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220320 ms (missed cycles : 2).[0m ×2 + 9.59sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.64sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 9.77sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 10.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980142 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980142 ms (missed cycles : 3).[0m ×2 + 10.61sINFOobjective_server_nodeFound path in 33 iterations (0.0373561 s). ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061189 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061189 ms (missed cycles : 2).[0m ×2 + 11.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.90sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 12.57sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668734 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668734 ms (missed cycles : 3).[0m ×2 + 12.80sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098885 ms (missed cycles : 5). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098885 ms (missed cycles : 5).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090836 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090836 ms (missed cycles : 2).[0m ×2 + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.088ms + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.505ms + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631072 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631072 ms (missed cycles : 3).[0m ×2 + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.229ms + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859292 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859292 ms (missed cycles : 2).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.588ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156758 ms (missed cycles : 2). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156758 ms (missed cycles : 2).[0m ×2 + 18.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.80sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700787.15097404 seconds ×3 + 18.84sINFOstate_estimatorReceived a set_pose request (stamp: 1791700787172338201, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783633 ms (missed cycles : 3). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783633 ms (missed cycles : 3).[0m ×2 + 18.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.662ms + 19.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.35sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.37sINFOamclParticle filter update iteration stats: 2072 particles 811 points - 6.036ms + 19.37sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569176, y=-0.0171794, yaw=-0.0183995 + 19.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700787.77975869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.44sINFOmove_groupClearing octomap...[0m ×2 + 19.44sINFOmove_groupOctomap cleared.[0m ×2 + 19.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.604ms + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760853 ms (missed cycles : 3). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760853 ms (missed cycles : 3).[0m ×2 + 20.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700788.59988689 seconds ×3 + 20.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700789.17924738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669483 ms (missed cycles : 5). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669483 ms (missed cycles : 5).[0m ×2 + 21.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 21.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700790.06938004 seconds ×3 + 21.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587637 ms (missed cycles : 4). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587637 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 111 errors · 34 warnings · 550 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.588ms + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156758 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156758 ms (missed cycles : 2).[0m ×2 + 1.18sINFOjoint_trajectory_controllerGoal reached, success! + 1.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700787.15097404 seconds ×3 + 1.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791700787172338201, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783633 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783633 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.662ms + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.75sINFOobjective_server_nodecaller: ×4 + 1.75sINFOobjective_server_nodetype: 0 ×4 + 1.75sINFOobjective_server_nodename: "" ×4 + 1.75sINFOobjective_server_nodeinstance_id: "" ×4 + 1.75sINFOobjective_server_node ×4 + 1.77sINFOamclParticle filter update iteration stats: 2072 particles 811 points - 6.036ms + 1.77sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 1.77sINFOamclInitializing particles from estimated pose and covariance + 1.77sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 1.77sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569176, y=-0.0171794, yaw=-0.0183995 + 1.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700787.77975869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.87sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.87sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.604ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760853 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760853 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700788.59988689 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700789.17924738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669483 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669483 ms (missed cycles : 5).[0m ×2 + 4.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700790.06938004 seconds ×3 + 4.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587637 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587637 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822688 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822688 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669112 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669112 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043406 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043406 ms (missed cycles : 2).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732182 ms (missed cycles : 3). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732182 ms (missed cycles : 3).[0m ×2 + 9.78sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 9.85sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORweb_video_auth_proxy-41process has died [pid 8261, 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 + 9.85sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 9.88sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 9.89sERRORweb_bridge_auth_proxy-40process has died [pid 8260, 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 + 9.90sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676267 ms (missed cycles : 2). + 9.91sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 9.92sINFOvideo_server-39process has finished cleanly [pid 8255] ×2 + 9.93sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 9.94sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 9.96sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 9.97sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 9.99sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.00sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.01sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.03sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.04sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.05sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.06sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.08sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.09sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.09sINFOcontroller_managerShutdown request received.... + 10.09sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.09sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.09sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.10sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.10sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.10sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.10sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.10sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.10sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.10sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.10sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.10sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.10sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.10sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.10sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.10sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.10sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.10sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.10sINFOcontroller_managerShutting down the controller manager. + 10.11sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.12sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.13sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.13sERRORmove_group-25process has died [pid 8233, 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_dz7fkct8 --params-file /tmp/launch_params_79j33son --params-file /tmp/launch_params_ntvujeug --params-file /tmp/launch_params_t7zfcn7n --params-file /tmp/launch_params_2yd94t61 --params-file /tmp/launch_params_8fr9bq5y']. ×2 + 10.14sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.16sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.17sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.18sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.19sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.20sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.21sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.22sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.22sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.23sINFOmap_serverDeactivating + 10.23sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.23sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.23sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.23sINFOcontroller_serverDeactivating + 10.23sINFOlocal_costmap.local_costmapDeactivating + 10.23sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.23sINFOvideo_server2026/10/11 06:39:55 INF shutting down gracefully ×2 + 10.24sINFOvideo_server2026/10/11 06:39:55 INF [WebRTC] closing ×2 + 10.24sINFOvideo_server2026/10/11 06:39:55 INF [RTSP] closing ×2 + 10.24sINFOvideo_server2026/10/11 06:39:55 INF waiting for running hooks ×2 + 10.24sINFOmap_serverCleaning up + 10.24sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.24sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.24sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676267 ms (missed cycles : 2).[0m ×2 + 10.24sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.24sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.24sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.24sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.24sERRORmove_groupStack trace (most recent call last) in thread 8885: ×2 + 10.24sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.24sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1cb4ff4cc3, in __clone ×2 + 10.24sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1cb4f67b83, in ×2 + 10.24sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1cb51f8db3, in ×2 + 10.24sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f1cb5960f14, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.24sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1cb558c620, in rclcpp::Rate::sleep() ×2 + 10.24sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1cb54ced18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.24sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1cb5490087, in ×2 + 10.24sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1cb51c7390, in __cxa_throw ×2 + 10.24sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1cb51b1a54, in std::terminate() ×2 + 10.24sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1cb51c70d9, in ×2 + 10.24sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1cb51b1ff4, in ×2 + 10.24sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1cb4ef38fe, in abort ×2 + 10.24sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1cb4f1027d, in raise ×2 + 10.24sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1cb4f69c0c, in pthread_kill ×2 + 10.24sERRORmove_groupAborted (Signal sent by tkill() 8233 0) ×2 + 10.24sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.24sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.24sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.24sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.24sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.24sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.24sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.24sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.25sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.25sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.25sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.25sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.25sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.25sERRORamclThe bond connection to the lifecycle manager has been broken + 10.29sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.30sINFOcontroller_serverCleaning up + 10.30sINFOlocal_costmap.local_costmapCleaning up + 10.31sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.31sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.31sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.34sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.34sINFOsmoother_serverDeactivating + 10.34sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.35sINFOsmoother_serverCleaning up + 10.37sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.37sINFOplanner_serverDeactivating + 10.37sINFOglobal_costmap.global_costmapDeactivating + 10.40sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.40sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.40sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.40sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.40sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.40sINFOvelocity_smootherDeactivating + 10.40sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.52sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.52sINFOwaypoint_followerDeactivating + 10.52sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.63sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.63sINFObt_navigatorDeactivating + 10.63sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.71sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.71sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.72sINFOplanner_serverCleaning up + 10.74sINFOglobal_costmap.global_costmapCleaning up + 10.74sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.75sINFObehavior_serverDeactivating + 10.75sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.75sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.75sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.78sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.78sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.78sINFObt_navigatorCleaning up + 10.86sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.86sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.86sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.86sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.86sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.86sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.86sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.86sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.86sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.86sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.87sINFOvelocity_smootherCleaning up + 10.87sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.87sINFOwaypoint_followerCleaning up + 10.90sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.93sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.93sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 10.93sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.93sINFObehavior_serverCleaning up + 10.94sINFObt_navigatorCompleted Cleaning up + 10.94sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.94sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.94sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.96sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 10.96sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 10.96sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOjoint_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 + 10.96sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.96sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.96sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 10.97sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.97sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8254] ×2 + 10.97sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.97sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.97sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.97sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 10.97sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 10.97sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 10.97sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 10.97sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 10.97sINFOjoint_state_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 10.97sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 10.98sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.98sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.98sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.99sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.99sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.02sERRORjoint_state_visualization_relay-37process has died [pid 8253, 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_i3adlls6']. ×2 + 11.02sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.03sINFOtf_visualization_relay-36process has finished cleanly [pid 8252] ×2 + 11.03sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.08sINFOui_teleop_bridge-34process has finished cleanly [pid 8247] ×2 + 11.09sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8242] ×2 + 11.10sINFOexecute_objective_bridge-33process has finished cleanly [pid 8246] ×2 + 11.11sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8239] ×2 + 11.15sINFOparameter_manager_node-26process has finished cleanly [pid 8236] ×2 + 11.17sINFOwaypoint_manager_node-27process has finished cleanly [pid 8237] ×2 + 11.17sINFOrelay-11process has finished cleanly [pid 8166] ×2 + 11.19sINFOrelay-10process has finished cleanly [pid 8165] ×2 + 11.19sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8061] ×2 + 11.20sINFOcomponent_container_mt-32process has finished cleanly [pid 8245] ×2 + 11.20sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8167] ×2 + 11.21sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8060] ×2 + 11.21sINFOstatic_transform_publisher-7process has finished cleanly [pid 8059] ×2 + 11.22sINFOobjective_server_node[2026-10-11 06:39:57.166] [moveit_pro_license] [critical] ×2 + 11.22sINFOobjective_server_node************************************************* ×4 + 11.22sINFOobjective_server_node* MoveIt Pro License ×2 + 11.22sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.23sINFOstatic_transform_publisher-6process has finished cleanly [pid 8058] ×2 + 11.24sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.24sINFOlidar_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 + 11.24sINFOlidar_flattener.pymain() ×2 + 11.24sINFOlidar_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 + 11.24sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.24sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.24sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.24sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.24sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.24sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.24sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.24sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.24sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.26sINFOstatic_transform_publisher-3process has finished cleanly [pid 8055] ×2 + 11.28sERRORlidar_flattener.py-5process has died [pid 8057, 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_15ia42i1']. ×2 + 11.29sERRORcomponent_container_isolated-1process has died [pid 8053, 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_ffh0ypt1 --params-file /tmp/launch_params__8y2a114 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.29sINFOobjective_server_node_main-30process has finished cleanly [pid 8243] ×2 + 11.29sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 11.54sERRORcomponent_container_isolated-2process has died [pid 8054, 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_ffh0ypt1 --params-file /tmp/launch_params_qt3pmoy8 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.24sINFOcomponent_container_mt-31process has finished cleanly [pid 8244] ×2 + 12.24sINFOodom_world_drift-4process has finished cleanly [pid 8056] ×2 + 12.81sINFOweb_bridge-35process has finished cleanly [pid 8248] ×2 + 12.81sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 12.84sINFOros2_control_node-13process has finished cleanly [pid 8168] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 69 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482138 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482138 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990330 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990330 ms (missed cycles : 2).[0m ×2 + 1.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.368ms + 1.84sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914631 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914631 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.462ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628564 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628564 ms (missed cycles : 3).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1791700629.89387250 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOstate_estimatorReceived a set_pose request (stamp: 1791700629909033758, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.55) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.13, 11.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 12.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.551ms + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1791700630.49094939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848511 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848511 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.72sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378175 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378175 ms (missed cycles : 4).[0m ×2 + 5.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.45sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 5.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.751ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590533 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590533 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.52sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.52sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787738 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787738 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813616 ms (missed cycles : 5). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813616 ms (missed cycles : 5).[0m ×2 + 9.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.246ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783976 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783976 ms (missed cycles : 2).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248464 ms (missed cycles : 4). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248464 ms (missed cycles : 4).[0m ×2 + 10.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.759ms + 11.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.021ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649319 ms (missed cycles : 4). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649319 ms (missed cycles : 4).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 12.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.325ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413925 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413925 ms (missed cycles : 4).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.961ms + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302326 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302326 ms (missed cycles : 3).[0m ×2 + 14.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.17sINFOjoint_trajectory_controllerGot request to cancel goal + 14.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791700640.85303617 seconds ×3 + 14.21sINFOstate_estimatorReceived a set_pose request (stamp: 1791700640874086618, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 14.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.197ms + 14.35sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.35sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.66sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.952ms + 14.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1791700641.45665693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771198 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771198 ms (missed cycles : 3).[0m ×2 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559870 ms (missed cycles : 3). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559870 ms (missed cycles : 3).[0m ×2 + 16.33sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.992ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447840 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447840 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 47 warnings · 149 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.210ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.60sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700538.93556547 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791700538960727234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.274ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700539.54172564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2).[0m ×2 + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.79sINFOamclInitializing particles from estimated pose and covariance + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0165787, yaw=-0.0171462 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.622ms + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270369 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270369 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606295 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606295 ms (missed cycles : 3).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043255 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043255 ms (missed cycles : 2).[0m ×2 + 9.01sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1791700545.32190251 seconds ×3 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724831 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724831 ms (missed cycles : 2).[0m ×2 + 10.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.56sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.60sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1791700546.91273999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.81sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625735 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625735 ms (missed cycles : 3).[0m ×2 + 11.01sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563784 ms (missed cycles : 3). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563784 ms (missed cycles : 3).[0m ×2 + 12.57sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898977 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898977 ms (missed cycles : 3).[0m ×2 + 13.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 54 warnings · 147 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.667ms + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786330 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786330 ms (missed cycles : 2).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.233ms + 1.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.087ms + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992882 ms (missed cycles : 3). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992882 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.655ms + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.844ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995832 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995832 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.15sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.15sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1791700706.91681147 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_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 + 3.19sINFOstate_estimatorReceived a set_pose request (stamp: 1791700706939023179, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.70, 13.60) is out of map bounds (-4.35, 5.30) to (0.63, 10.28). The costmap cannot raytrace for it. + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 13.42) is out of map bounds (-4.35, 5.30) to (0.63, 10.28). The costmap cannot raytrace for it. + 3.37sWARNlocal_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. ×2 + 3.37sWARNlocal_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. ×2 + 3.57sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.57sWARNlocal_costmap.local_costmapSensor origin at (-3.57, 13.46) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×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 `Point-to-Point Trajectory` starting at time: 1791700707.51274753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.558ms + 3.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.96sINFOamclInitializing particles from estimated pose and covariance + 3.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568276, y=-0.0171814, yaw=-0.0184011 + 4.22sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.22sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.22sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957578 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957578 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.609ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473986 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473986 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 9.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 10.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.18sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 10.63sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 12.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 39 warnings · 162 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650170 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650170 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031536 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031536 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798190 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798190 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.34sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791700475.54809856 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.40sINFOstate_estimatorReceived a set_pose request (stamp: 1791700475570662567, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791700476.13823390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.253ms + 3.10sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.10sINFOamclInitializing 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=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742817 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742817 ms (missed cycles : 3).[0m ×2 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.628ms + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.7793e-05 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.12sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447214 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447214 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945028 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945028 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.525ms + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.072ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317791 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317791 ms (missed cycles : 2).[0m ×2 + 6.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.217ms + 6.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.777ms + 7.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.587ms + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924084 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924084 ms (missed cycles : 2).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.472ms + 7.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.291ms + 8.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.345ms + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044507 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044507 ms (missed cycles : 2).[0m ×2 + 8.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791700481.65834451 seconds ×3 + 8.51sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 8.51sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.51sINFOstate_estimatorReceived a set_pose request (stamp: 1791700481674178572, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.02sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791700482.25542498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.17sINFOamclParticle filter update iteration stats: 1788 particles 811 points - 6.773ms + 9.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568567, y=-0.017181, yaw=-0.0184014 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978224 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978224 ms (missed cycles : 3).[0m ×2 + 9.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.680ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180195 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180195 ms (missed cycles : 3).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490153 ms (missed cycles : 4). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490153 ms (missed cycles : 4).[0m ×2 + 11.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 26 warnings · 129 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.505ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631072 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631072 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.229ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859292 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859292 ms (missed cycles : 2).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.588ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156758 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156758 ms (missed cycles : 2).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700787.15097404 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1791700787172338201, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783633 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783633 ms (missed cycles : 3).[0m ×2 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.662ms + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.55sINFOamclParticle filter update iteration stats: 2072 particles 811 points - 6.036ms + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.55sINFOamclInitializing particles from estimated pose and covariance + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569176, y=-0.0171794, yaw=-0.0183995 + 3.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700787.77975869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.62sINFOmove_groupClearing octomap...[0m ×2 + 3.62sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.604ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760853 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760853 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700788.59988689 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700789.17924738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669483 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669483 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700790.06938004 seconds ×3 + 6.14sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587637 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587637 ms (missed cycles : 4).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822688 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822688 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.00sINFOros2_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.07sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.07sINFOobjective_server_nodecaller: ×10 + 1.07sINFOobjective_server_nodetype: 0 ×10 + 1.07sINFOobjective_server_nodename: "" ×10 + 1.07sINFOobjective_server_nodeinstance_id: "" ×10 + 1.07sINFOobjective_server_node ×10 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.12sINFOmove_groupClearing octomap...[0m ×4 + 1.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.12sINFOmove_groupOctomap cleared.[0m ×4 + 1.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_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 + 3.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804325 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804325 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650170 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650170 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031536 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031536 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798190 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798190 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791700475.54809856 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOstate_estimatorReceived a set_pose request (stamp: 1791700475570662567, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791700476.13823390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.253ms + 3.10sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.10sINFOamclInitializing particles from estimated pose and covariance + 3.10sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.10sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742817 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742817 ms (missed cycles : 3).[0m ×2 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.628ms + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.7793e-05 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOjoint_trajectory_controllerReceived new action goal + 4.12sINFOjoint_trajectory_controllerAccepted new action goal + 4.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447214 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447214 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945028 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945028 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.525ms + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.072ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650170 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650170 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031536 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031536 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798190 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798190 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1791700475.54809856 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.40sINFOstate_estimatorReceived a set_pose request (stamp: 1791700475570662567, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1791700476.13823390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.253ms + 3.10sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.10sINFOamclInitializing particles from estimated pose and covariance + 3.10sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.10sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568461, y=-0.0171812, yaw=-0.0184018 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742817 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742817 ms (missed cycles : 3).[0m ×2 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.628ms + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.7793e-05 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sINFOjoint_trajectory_controllerReceived new action goal + 4.12sINFOjoint_trajectory_controllerAccepted new action goal + 4.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447214 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447214 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945028 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945028 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.525ms + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.072ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.88sINFOmove_groupClearing octomap...[0m ×4 + 2.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×4 + 2.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 85 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.525ms + 0.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.072ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317791 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317791 ms (missed cycles : 2).[0m ×2 + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.217ms + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.777ms + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.587ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924084 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924084 ms (missed cycles : 2).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.472ms + 2.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.291ms + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.345ms + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044507 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044507 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1791700481.65834451 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 3.14sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 3.15sINFOstate_estimatorReceived a set_pose request (stamp: 1791700481674178572, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1791700482.25542498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOamclParticle filter update iteration stats: 1788 particles 811 points - 6.773ms + 3.80sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.80sINFOamclInitializing particles from estimated pose and covariance + 3.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568567, y=-0.017181, yaw=-0.0184014 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978224 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978224 ms (missed cycles : 3).[0m ×2 + 4.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.680ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180195 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180195 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490153 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490153 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 24 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.210ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700538.93556547 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791700538960727234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.274ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700539.54172564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2).[0m ×2 + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.79sINFOamclInitializing particles from estimated pose and covariance + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0165787, yaw=-0.0171462 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.622ms + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Localize Robot | localize_robot.xml | 0.0s | 24 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.210ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700538.93556547 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791700538960727234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.274ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700539.54172564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2).[0m ×2 + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.79sINFOamclInitializing particles from estimated pose and covariance + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0165787, yaw=-0.0171462 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.622ms + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Localize Robot If Needed | localize_robot_if_needed.xml | 0.0s | 24 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.210ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700538.93556547 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791700538960727234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.274ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700539.54172564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2).[0m ×2 + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.79sINFOamclInitializing particles from estimated pose and covariance + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0165787, yaw=-0.0171462 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.622ms + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 24 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.210ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700538.93556547 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791700538960727234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.274ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700539.54172564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2).[0m ×2 + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.79sINFOamclInitializing particles from estimated pose and covariance + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0165787, yaw=-0.0171462 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.622ms + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 24 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.210ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700538.93556547 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791700538960727234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.274ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700539.54172564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2).[0m ×2 + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.79sINFOamclInitializing particles from estimated pose and covariance + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0165787, yaw=-0.0171462 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.622ms + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 24 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.210ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700538.93556547 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791700538960727234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.274ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700539.54172564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2).[0m ×2 + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.79sINFOamclInitializing particles from estimated pose and covariance + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0165787, yaw=-0.0171462 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.622ms + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 24 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411358 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127926 ms (missed cycles : 3).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.210ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892383 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1791700538.93556547 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOstate_estimatorReceived a set_pose request (stamp: 1791700538960727234, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.97, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.274ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776565 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1791700539.54172564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937468 ms (missed cycles : 2).[0m ×2 + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.79sINFOamclInitializing particles from estimated pose and covariance + 4.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0165787, yaw=-0.0171462 + 4.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.622ms + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037540 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 32 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.522ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.814ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.793ms + 1.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.297ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025192 ms (missed cycles : 4). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025192 ms (missed cycles : 4).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.677ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601392 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601392 ms (missed cycles : 3).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700578.14287305 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOstate_estimatorReceived a set_pose request (stamp: 1791700578165895258, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.53sWARNlocal_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. ×5 + 3.53sWARNlocal_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. ×5 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363368 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363368 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700578.74372506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.372ms + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.95sINFOamclInitializing particles from estimated pose and covariance + 3.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.076ms + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161880 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161880 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895053 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895053 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.51sINFOjoint_trajectory_controllerReceived new action goal + 6.51sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 32 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.522ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.814ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.793ms + 1.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.297ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025192 ms (missed cycles : 4). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025192 ms (missed cycles : 4).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.677ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601392 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601392 ms (missed cycles : 3).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700578.14287305 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOstate_estimatorReceived a set_pose request (stamp: 1791700578165895258, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.53sWARNlocal_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. ×5 + 3.53sWARNlocal_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. ×5 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363368 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363368 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700578.74372506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.372ms + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.95sINFOamclInitializing particles from estimated pose and covariance + 3.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.076ms + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161880 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161880 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895053 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895053 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.51sINFOjoint_trajectory_controllerReceived new action goal + 6.51sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 32 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.522ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797384 ms (missed cycles : 2).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.814ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.793ms + 1.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.297ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025192 ms (missed cycles : 4). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025192 ms (missed cycles : 4).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.677ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601392 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601392 ms (missed cycles : 3).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1791700578.14287305 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOstate_estimatorReceived a set_pose request (stamp: 1791700578165895258, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.53sWARNlocal_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. ×5 + 3.53sWARNlocal_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. ×5 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363368 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363368 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1791700578.74372506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.372ms + 3.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.95sINFOamclInitializing particles from estimated pose and covariance + 3.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.076ms + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161880 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161880 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895053 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895053 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.51sINFOjoint_trajectory_controllerReceived new action goal + 6.51sINFOjoint_trajectory_controllerAccepted new action goal + 6.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.88sINFOmove_groupClearing octomap...[0m ×4 + 2.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×4 + 2.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal + 6.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Refine Localization In Place | refine_localization_in_place.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal + 6.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Refine Localization In Place Subtree | refine_localization_in_place_subtree.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal + 6.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.88sINFOmove_groupClearing octomap...[0m ×4 + 2.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×4 + 2.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal + 6.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal + 6.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal + 6.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal + 6.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal + 6.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540075 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415059 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744215 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173511 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1791700713.39289761 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1791700713.98930860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851445 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953627 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075665 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal + 6.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 23 warnings · 129 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.505ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631072 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631072 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.229ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859292 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859292 ms (missed cycles : 2).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.588ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156758 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156758 ms (missed cycles : 2).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1791700787.15097404 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1791700787172338201, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783633 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783633 ms (missed cycles : 3).[0m ×2 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.662ms + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.55sINFOamclParticle filter update iteration stats: 2072 particles 811 points - 6.036ms + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.55sINFOamclInitializing particles from estimated pose and covariance + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569176, y=-0.0171794, yaw=-0.0183995 + 3.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700787.77975869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.62sINFOmove_groupClearing octomap...[0m ×2 + 3.62sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 27.604ms + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760853 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760853 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700788.59988689 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700789.17924738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669483 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669483 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700790.06938004 seconds ×3 + 6.14sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587637 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587637 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 346 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.88sINFOmove_groupClearing octomap...[0m ×4 + 2.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×4 + 2.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 18 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.88sINFOmove_groupClearing octomap...[0m ×4 + 2.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×4 + 2.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 337 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.88sINFOmove_groupClearing octomap...[0m ×4 + 2.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×4 + 2.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.88sINFOmove_groupClearing octomap...[0m ×4 + 2.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×4 + 2.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.88sINFOmove_groupClearing octomap...[0m ×4 + 2.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×4 + 2.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662233 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 1.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 1.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.83sINFOobjective_server_nodecaller: ×10 + 2.83sINFOobjective_server_nodetype: 0 ×10 + 2.83sINFOobjective_server_nodename: "" ×10 + 2.83sINFOobjective_server_nodeinstance_id: "" ×10 + 2.83sINFOobjective_server_node ×10 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.88sINFOmove_groupClearing octomap...[0m ×4 + 2.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.88sINFOmove_groupOctomap cleared.[0m ×4 + 2.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_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 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 21 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804325 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804325 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 344 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618842 ms (missed cycles : 3).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866351 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.38sINFOobjective_server_nodecaller: ×10 + 1.38sINFOobjective_server_nodetype: 0 ×10 + 1.38sINFOobjective_server_nodename: "" ×10 + 1.38sINFOobjective_server_nodeinstance_id: "" ×10 + 1.38sINFOobjective_server_node ×10 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700429.98444271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700429.99464440 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700430.58227897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700430.59282684 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348219 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700431.16590214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700431.31644821 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700431.93152475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743627 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700432.00165176 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1791700432.58561206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049874 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.38sINFOjoint_trajectory_controllerReceived new action goal + 5.38sINFOjoint_trajectory_controllerAccepted new action goal + 5.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717144 ms (missed cycles : 2).[0m ×2 | ||||